CN106974707A - CT Guided Percutaneous lung punctures space auxiliary locator - Google Patents
CT Guided Percutaneous lung punctures space auxiliary locator Download PDFInfo
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- CN106974707A CN106974707A CN201710263815.2A CN201710263815A CN106974707A CN 106974707 A CN106974707 A CN 106974707A CN 201710263815 A CN201710263815 A CN 201710263815A CN 106974707 A CN106974707 A CN 106974707A
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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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The present invention provides a kind of CT Guided Percutaneous lung puncture space auxiliary locator, including the base module that is sequentially connected, X-axis move horizontally module, Y-axis and move horizontally module, Z axis vertical lift module, α axle pose adjustment modules and β axle pose adjustment modules.The axle center of puncture needle from α, β axle is passed through, when adjusting the anglec of rotation of α, β axle, and the coordinate in axle center keeps constant.By adjusting X, Y, Z module, the coordinate in α, β axle axle center can adjust.The present invention facilitates the space auxiliary positioning of the puncture needle in Percutaneous lung puncture surgical procedure, the servicing unit, which can enter, carries out patient's lung images scanning under CT, accurate adjustment function substantially increases the accuracy rate and success rate of puncturing operation, is also had broad application prospects for other similar puncturing operations.
Description
Technical field
The present invention relates to technical field of medical instruments, in particular it relates to the CT guiding warps of a kind of coordinate and controlled attitude
Skin lung puncture space auxiliary locator.
Background technology
At present, clinically the diagnostic means of pulmonary lesion have airway wall, thoracoscope, and Drug eluting stent, but branch gas
Pipe spectroscopy only has the biopsy diagnosis accuracy rate under higher diagnostic value, thoracoscope higher to central type lesion, but operation wound
Wound is relatively large, and complication rate is higher, there is certain limitation.But the clinical practice of percutaneous pneumoncentesis can not show a candle at present
Sputum smear fiberobronchoscopy extensively, mainly there is following reasons：
1st, traditionally pneumocentesis belongs to invasive inspection, and patient and family members' acceptance are poor.
2nd, it is possible to pneumothorax, the hemorrhage complication produced.
3rd, operation relative difficulty is, it is necessary to which experienced division of respiratory disease or radiologist's operation, mortality are higher.
4th, convenience, accurate auxiliary locator are lacked.
Traditional piercing method puncture needle is when needing CT to position after puncturing into intrapulmonary, it is impossible to fixed, causes puncture needle meeting
Swung with the breathing of patient, and needle angle is easily varied, consequently, it is possible to because puncture needle displacement causes puncture failure
Even trigger the complication such as bleeding, pneumothorax.
Through retrieval, summer sea dog etc. exists《Chinese Digital medical science》Deliver《CT guided percutaneous transthoracic lung biopsies positioner is developed》Opinion
Text, describe it is a kind of can two frees degree puncture positioning device, but the positioning of puncture needle is the complexity of 5 frees degree
Space orientation, therefore the device can not carry out the regulation of spatial coordinate location, also can be quickly and accurately without direct parameter
Determine inserting needle direction and lesions position.
Application No. CN201521064681.4 utility model patent of invention, has invented a kind of vertical mobile puncture machine
People, the robot uses wheel type mobile mode, and size is very big, it is impossible to moves into CT tomographic scanners with CT and is examined online
Survey, while also not describing how to guide realization with reference to CT.
Currently without the explanation or report for finding technology similar to the present invention, money similar both at home and abroad is also not yet collected into
Material.
The content of the invention
For defect of the prior art, it is an object of the invention to provide a kind of CT Guided Percutaneous lung puncture space auxiliary is fixed
Position device, simple and convenient, pose adjustment and Coordinate Adjusting are independently carried out, and can enter the progress image scanning of CT machines, can be reduced
Cost, can improve the positioning precision of Percutaneous lung puncture again.
The present invention is achieved by the following technical solutions.
A kind of CT Guided Percutaneous lung puncture space auxiliary locator, including：Base module, X-axis move horizontally module, Y
Axle moves horizontally module, Z axis vertical lift module, α axle pose adjustment modules and β axle pose adjustment modules, wherein：
The X-axis moves horizontally module and is fixed on base module, and the Y-axis moves horizontally module installed in X-axis level
On mobile module, the Z axis vertical lift module is moved horizontally in module installed in Y-axis, the α axles pose adjustment module and Z
Axle vertical lift module is connected, and the β axles pose adjustment module is connected with α axle pose adjustment modules.
Preferably, the base module, including：Left side claw, middle claw, the right claw, connecting plate, datum plate, water
Heibei provincial opera whole plate and adjustment screw；Wherein：
The one side of the left side claw, middle claw and the right claw is fixedly connected sequentially by connecting plate, the left side
The upper end of checkpost pawl, middle claw and the right claw is connected with datum plate respectively, and the horizontal adjustment plate is arranged on datum plate,
And the levelness of horizontal adjustment plate is adjusted by adjusting screw；The lower end point of the left side claw, middle claw and the right claw
She You not recess.
Preferably, the X-axis moves horizontally module, including：X-axis adjusting nut, X-axis screw mandrel and X-axis framework；Wherein：
The bottom surface of the X-axis framework is connected with base module, and the X-axis adjusting nut is connected with X-axis screw mandrel, the Y-axis
Module is moved horizontally to be connected on X-axis screw mandrel；The X-axis adjusting nut rotation, drives X-axis screw mandrel to rotate, so as to drive Y-axis water
Flat mobile module is moved horizontally along X-axis；The X-axis framework has the effect of X-axis motion guide.
Preferably, the Y-axis moves horizontally module, including：Y-axis framework, Y-axis adjusting nut and Y-axis screw mandrel；Wherein：
The lower surface of the Y-axis framework moves horizontally module with X-axis and is connected, the Y-axis adjusting nut and the one of Y-axis screw mandrel
End is connected, and the Z axis vertical lift module is connected on Y-axis screw mandrel；The Y-axis adjusting nut rotation, drives Y-axis screw mandrel to turn
It is dynamic, moved horizontally so as to drive Z axis to be vertically moved up or down module along Y-axis, the Y-axis framework has the effect of Y-axis motion guide.
Preferably, the Z axis vertical lift module, including：Z axis framework, Z axis adjusting nut, Z axis screw mandrel and Z axis sliding block；
Wherein：
The lower end of the Z axis framework moves horizontally module with Y-axis and is connected, one end of the Z axis adjusting nut and Z axis screw mandrel
It is connected, the lower end of the Z axis sliding block is connected with Z axis screw mandrel；The Z axis adjusting nut rotation, drives Z axis screw mandrel to rotate, so that
Z axis sliding block is driven to be vertically moved along Z axis, the Z axis framework has the effect of Z axis motion guide.
Preferably, the α axles pose adjustment module, including：α rotary shafts and α axle frameworks；Wherein：
The α rotary shafts are arranged in Z axis vertical lift module, and the α axles framework is connected with α rotary shafts；The α axles frame
Frame is vertically moved up or down module relative to Z axis by α rotary shafts and rotated.
Preferably, the β axles pose adjustment module, including：β rotary shafts and β axle frameworks；Wherein：
The β rotary shafts are arranged on two sides of the α axle frameworks of α axle pose adjustment modules, and the β axles framework passes through β
Rotary shaft is connected with α axle frameworks；The β axles framework is rotated by β rotary shafts relative to α axles framework；The rotation axis of β axle frameworks
It is mutually perpendicular to the rotation axis of α axle frameworks and intersects at a P points, the P points is located at the middle part of β axle frameworks.
Preferably, in addition to following any one or any number of parts：
- puncture needle, the puncture needle is passed through from P points；
- CT leading percutaneous puncture modules, including three point on a straight line adjustment unit, the three point on a straight line adjustment unit are schemed according to CT
As adjustment P point positions and/or the posture of adjustment puncture needle so that the space line where puncture needle is by puncturing entry position Q
Point and puncture lesion center O points, i.e. P points, Q points, O point three point on a straight line.
Preferably, the CT images include following information：
The spatial coordinated information of-puncture lesion center O points；
- puncture needle is relative to the locus and attitude information for puncturing lesion center O points.
Preferably, in addition to following any one or any multinomial feature：
The moving range that the X-axis moves horizontally module is 0~210mm；
The moving range that the Y-axis moves horizontally module is 0~220mm；
The moving range of the Z axis vertical lift module is 0~50mm；
The moving range of the α axles pose adjustment module is 0~± 90 degree；
The moving range of the β axles pose adjustment module is 0~± 30 degree；
The appearance and size (x, y, z) of CT Guided Percutaneous lung puncture space auxiliary locator be to the maximum (340mm,
285mm, 360mm)；
The α axles pose adjustment module, β axle pose adjustments module, X-axis move horizontally module, Y-axis move horizontally module with
And Z axis vertical lift module uses nonmetallic materials.
The CT Guided Percutaneous lung punctures space auxiliary locator that the present invention is provided, has 5 frees degree, divides from top to bottom
It is not：The horizontal free degree of X-axis, the horizontal free degree of Y-axis, Z axis vertical degree of freedom, the α axle pose adjustment frees degree and the rotation of β axles are freely
Degree；Wherein：
The Y-axis moves horizontally module and moved in the X-axis direction under the driving of X-axis adjusting nut, so as to realize X-axis level
The free degree；
The Z axis vertical lift module is moved under the driving of Y-axis adjusting nut along Y direction, so as to realize Y-axis level
The free degree；
The Z axis module is moved under the driving of Z axis adjusting nut along Z-direction, so as to realize Z axis vertical degree of freedom；
The α axles pose adjustment module realizes the α axle pose adjustment frees degree around α rotary shaft manual rotations；
The β axles pose adjustment module realizes the β axle pose adjustment frees degree around β rotary shaft manual rotations；
The centre of puncture needle from α axles framework and β axle frameworks is passed through, the pose adjustment free degree of adjustment α axles and β axles, and then
Adjust the attitude angle of puncture needle.
The CT Guided Percutaneous lung punctures space auxiliary locator that the present invention is provided, its operation principle is：
CT Guided Percutaneous lung puncture systems are generally included：CT, CT tomographic scanners, CT guiding computer, operating desk.Work
Make under state, base module is arranged on the side of CT.Patient's prostrate is on CT beds, and the back of patient is worn in CT Guided Percutaneous lungs
Pierce below the auxiliary locator of space.CT tomographic scanners can obtain the space coordinate that patient punctures lesion center O points, also may be used
Puncture needle is obtained to wear relative to the locus and posture (CT images) for puncturing lesion center O points, and transmission to CT Guided Percutaneous
Pierce module.Operating desk is connected with CT tomographic scanners, CT guiding computers respectively, and CT guiding warps are provided with CT guiding computers
Skin puncture module.Three point on a straight line adjustment unit in CT leading percutaneous puncture modules can be punctured accurately in focus to display patient
The coordinate of heart O points, and straight line and the relative position of focus and the spatial attitude of needs where puncture needle.If CT guiding warps
Straight line where skin puncture module discovery puncture needle then provides α without lesion center O points are punctured by three point on a straight line adjustment unit
Axle pose adjustment module, β axle pose adjustments module, X-axis move horizontally module, Y-axis and move horizontally module, Z axis vertical lift mould
α, β angle that 5 modules of block should be adjusted, X, Y, Z coordinate.That is, described CT leading percutaneous punctures module according to CT images not only
The posture of puncture needle can be adjusted, P points position is also can adjust.
The CT Guided Percutaneous lung punctures space auxiliary locator that the present invention is provided, the positioning adjustment process of puncture needle is such as
Under：
Puncture needle is fixed through the P points of the centre of β axle frameworks first；Then the device and patient are pushed into CT together
Machine is imaged.The result that CT leading percutaneous punctures module is imaged according to CT, determines the position of P points.Then spiral shell is adjusted by adjusting X-axis
Mother, Y-axis adjusting nut, Z axis adjusting nut, make P points be adjusted to the position of needs.The tumour determined further according to the result that CT is imaged
Position, by adjusting " α axle pose adjustment modules and β axle pose adjustments module " so that puncture needle points to the position of tumour, then
The position for the skin that puncture needle is pointed to is exactly the puncture entry position Q points of skin.Finally, can be repeatedly by the device and patient one
Feeding CT machine imagings are played, accurately to be adjusted.
The present invention provides a kind of CT Guided Percutaneous lung puncture space auxiliary locator, using the base mold being sequentially connected
Block, X-axis move horizontally module, Y-axis and move horizontally module, Z axis vertical lift module, α axle pose adjustment modules and β axles posture tune
Mould preparation block, the axle center of puncture needle from α, β axle is passed through, when adjusting the anglec of rotation of α, β axle, and the coordinate in axle center keeps constant；It is logical
Cross adjustment X-axis move horizontally module, Y-axis move horizontally module, Z axis vertical lift module, can adjust α, β axle axle center coordinate.
Compared with prior art, the present invention has following beneficial effect：
The present invention facilitates the space auxiliary positioning of the puncture needle in Percutaneous lung puncture surgical procedure, and the servicing unit can enter
Enter under CT machines progress patient's lung images scanning, accurate adjustment function substantially increases the accuracy rate and successfully of puncturing operation
Rate, also has broad application prospects for other similar puncturing operations.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the overall structure diagram of one embodiment of the invention；
In figure：
1 is left side claw, and 2 be the right claw for middle claw, 3, and 4 be plate on the basis of connecting plate, 5, and 6 be horizontal adjustment
Plate, 7 be adjustment screw, and 8 be X-axis adjusting nut, and 9 be X-axis screw mandrel, and 10 be X-axis framework, and 11 be Y-axis adjusting nut, and 12 be Y-axis
Framework, 13 be Y-axis screw mandrel, and 14 be Z axis framework, and 15 be Z axis screw mandrel, and 16 be Z axis adjusting nut, and 17 be Z axis sliding block, and 18 be α axles
Framework, 19 be α rotary shafts, and 20 be β axle frameworks, and 21 be β rotary shafts, and 22 be puncture needle, and 23 be CT, and 24 be focus, and 25 be the back of the body
Portion enters pin mark, and 26 be CT tomographic scanners, and 27 be that CT guides computer, and 28 be operating desk, and 29 be CT leading percutaneous puncture modules.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that to the ordinary skill of this area
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
Embodiment
As shown in figure 1, a kind of CT Guided Percutaneous lung puncture space auxiliary locator is present embodiments provided, including：Bottom
Seat module, X-axis move horizontally module, Y-axis and move horizontally module, Z axis vertical lift module, α axle pose adjustment modules and β axle appearances
State adjusting module.Wherein：
X-axis moves horizontally module and is fixed on base module, and Y-axis moves horizontally module and moves horizontally module installed in X-axis
On, Z axis vertical lift module is moved horizontally in module installed in Y-axis, and α axle pose adjustment modules are vertically moved up or down module phase with Z axis
Even, β axle pose adjustment modules are connected with α axle pose adjustment modules.
The base module has left side claw 1, middle claw 2, the right claw 3, passes through claw below as reference platform
Following recess, which is installed, to be fixed on CT bedside, and the centre (one side) of three claws is sequentially fixed at together by connecting plate 4.
The upper surface of three claws is linked together by datum plate 5.There is one block of horizontal adjustment plate 6 on datum plate 5, by adjusting screw
The levelness of 7 adjustable horizontal adjustment plates 6.
The said apparatus that the present embodiment is provided, moves horizontally module to β axle pose adjustment modules from X-axis, has 5 freedom
Degree, be respectively from top to bottom：The horizontal free degree of X-axis, the horizontal free degree of Y-axis, the vertical degree of freedom of Z axis, the posture of α axles are adjusted
The pose adjustment free degree of the whole free degree and β axles.Specially：
The Y-axis moves horizontally module and moved in the X-axis direction under the driving of X-axis adjusting nut 8, so as to realize X-axis
The horizontal free degree；Z axis vertically moves module and moved under the driving of Y-axis adjusting nut 11 along Y direction, so as to realize Y-axis
The horizontal free degree；Z axis module is moved under the driving of Z axis adjusting nut 16 along Z-direction, so as to realize the Vertical Free of Z axis
Degree；α axle pose adjustments module can realize the pose adjustment free degree of α axles around the manual rotation of α rotary shafts 19；β axle pose adjustment moulds
Block can realize the pose adjustment free degree of β axles around the manual rotation of β rotary shafts 21.Puncture needle 22 is from α axles framework 18, β axles framework 20
Centre pass through, adjust α, β axle the free degree, can adjust puncture needle 22 attitude angle.
Preferably, described base module, including：Left side claw 1, middle claw 2, the right claw 3, connecting plate 4, benchmark
Plate 5, horizontal adjustment plate 6 and adjustment screw 7；Wherein：
The lower surface of the left side claw 1, middle claw 2 and the right claw 3 is provided with recess, and CT are fixed to for installing
Side, the centre (one side) of three claws is sequentially fixed at together by connecting plate 4.The upper surface of three claws passes through datum plate
5 link together.There is one block of horizontal adjustment plate 6 on datum plate 5, pass through the water of four adjustment adjustable horizontal adjustment plates 6 of screw 7
Pingdu.
Preferably, described X-axis moves horizontally module, including：X-axis adjusting nut 8, X-axis screw mandrel 9, X-axis framework 10；Its
In：
The bottom surface of the X-axis framework 10 is connected with the upper surface of horizontal adjustment plate 6 of base module, X-axis adjusting nut 7 and X
Axial filament bar 9 is connected, and Y-axis moves horizontally below the Y-axis framework 12 of module (lower end) and is connected with X-axis screw mandrel 9.X-axis adjusting nut 8
Rotation, can drive X-axis screw mandrel 9 to rotate, be moved horizontally so as to drive Y-axis to move horizontally module along X-axis.X-axis framework 10 is to X-axis
Motion also plays guiding.
Preferably, described Y-axis moves horizontally module, including：Y-axis framework 12, Y-axis adjusting nut 11, Y-axis screw mandrel 13；
Wherein：
The X-axis screw mandrel 9 that the Y-axis framework 12 moves horizontally module with X-axis is connected, Y-axis adjusting nut 11 and Y-axis screw mandrel 13
One end be connected, Z axis vertical lift module Z axis framework 14 below is connected with the centre of Y-axis screw mandrel 13.Y-axis framework 12 is to Y
The motion of axle also plays guiding.
Preferably, described Z axis vertical lift module, including：Z axis framework 14, Z axis adjusting nut 16, Z axis screw mandrel 15, Z
Axle sliding block 17；Wherein：
The Y-axis screw mandrel 13 that the Z axis framework 14 moves horizontally module with Y-axis is connected, Z axis adjusting nut 16 and Z axis screw mandrel
15 one end is connected, and the lower end of Z axis sliding block 17 and the centre of Z axis screw mandrel 15 are connected.Vertical movement of the Z axis framework 14 also to Z axis
Play a part of to be oriented to.
Preferably, described α axle pose adjustment modules, including：α rotary shafts 19, α axles framework 18；Wherein：
Described α rotary shafts 19 are arranged on the upper end that Z axis is vertically moved up or down the Z axis sliding block 17 of module, α axles framework 18 and α rotations
Rotating shaft 19 is connected.α axles framework 18 can be rotated by α rotary shafts 19 relative to Z axis sliding block 17.
Preferably, described β axle pose adjustment modules, including：β rotary shafts 21, β axles framework 20；Wherein：
Described β rotary shafts 21 are arranged on two sides of the α axles framework 18 of α axle pose adjustment modules, and β axles framework 20 leads to
β rotary shafts 21 are crossed with α axles framework 18 to be connected.β axles framework 20 is rotated by β rotary shafts 21 relative to α axles framework 18.β axle frameworks
20 rotation axis and the rotation axis of α axles framework 18 are mutually perpendicular to and intersect at a P points, and the P points are located at β axles framework 20
Middle part.Puncture needle 22 is passed through from the P points.
Preferably, in addition to following any one or any number of parts：
- puncture needle, the puncture needle is passed through from P points；
- CT leading percutaneous puncture modules, including three point on a straight line adjustment unit, the three point on a straight line adjustment unit are schemed according to CT
As adjustment P point positions and/or the posture of adjustment puncture needle so that the space line where puncture needle is by puncturing entry position Q
Point and puncture lesion center O points, i.e. P points, Q points, O point three point on a straight line.
Preferably, the CT images include following information：
The spatial coordinated information of-puncture lesion center O points；
Locus of-the puncture needle relative to lesion center O points and attitude information.
Preferably, described X-axis moves horizontally the shifting that the moving range of module moves horizontally module for 0~210mm, Y-axis
Dynamic scope be 0~220mm, Z axis vertical lift module moving range be 0~50mm, the moving range of α axle pose adjustment modules
It it is 0~± 30 degree for the moving range of 0~± 90 degree, β axle pose adjustment modules.
The CT Guided Percutaneous lung punctures space auxiliary locator appearance and size is to the maximum：
x：340mm, y：285mm, z：360mm.
The size can ensure the working space of maximum, easily can enter CT tomographic scanners with CT again.
Preferably, α axles pose adjustment module, β axle pose adjustments module, X-axis move horizontally module, Y-axis and move horizontally mould
Block, Z axis 5 modules of vertical lift module do not use metal material, and the material used is the non-metallic material such as nylon or resin
Material.It ensure that the auxiliary locator, when entering CT tomographic scanners, will not have any impact to imaging.
Described three point on a straight line adjustment unit, when carrying out the sampling of Percutaneous lung puncture focus, it is necessary first to by adjusting α axles
Pose adjustment module adjusts the posture of puncture needle, i.e. α axles posture, β axle postures with β axle pose adjustment modules so that puncture needle
The straight line at place is parallel with " puncturing the straight line where lesion center O points and puncture entry position Q points "；Then, by adjusting X-axis
Move horizontally module, Y-axis and move horizontally module and Z axis vertical lift module, further determine that the end of puncture needle is carried on the back in human body
Portion enters pin mark, i.e., it needs to be determined that coordinate X, Y, Z of puncture needle end.Finally, examined by CT leading percutaneous puncture modules
Survey observation, it is ensured that the intersection point P of α axles and β axles, the coordinate (X, Y, Z) of puncture needle end, intrapulmonary punctures lesion center O point coordinates, three
Point point-blank, that is, completes the positioning of puncture needle.If CT leading percutaneous punctures module finds there is deviation, can be by above-mentioned
Step continues to complete adjustment process.
The positioning adjustment process of puncture needle 22 is as follows：
Puncture needle 22 is fixed through the P points of the centre of β axles framework 20 first；Then the device and patient are pushed away together
Enter the imaging of CT machines.CT leading percutaneous punctures module determines the position of P points according to the result of imaging.Then adjusted by adjusting X-axis
Nut 8, Y-axis adjusting nut 11, Z axis adjusting nut 16, make P points be adjusted to the position of needs.Further according to swelling that CT images are determined
Knurl position, by adjusting " α axle pose adjustment modules and β axle pose adjustments module " so that puncture needle 22 points to the position of tumour,
Then the position for the skin that puncture needle 22 is pointed to is exactly the puncture entry position Q points of skin.Finally, can repeatedly by the device and
Patient sends into the imaging of CT machines together, accurately to be adjusted.
The CT Guided Percutaneous lung punctures space auxiliary locator that the present embodiment is provided：
The space auxiliary positioning of the puncture needle in Percutaneous lung puncture surgical procedure is facilitated, the servicing unit can enter CT machines
Lower progress patient's lung images scanning, accurate adjustment function substantially increases the accuracy rate and success rate of puncturing operation, for
Other similar puncturing operations also have broad application prospects.
The coordinate of puncture needle can be not only adjusted, the posture of puncture needle can be also independently adjustable.The present invention facilitates percutaneous lung
The space auxiliary positioning of puncture needle during puncturing operation, the servicing unit, which can also pass through, carries out image scanning under CT, so that
The technical difficulty of pneumocentesis is reduced, the success rate of operation and the accuracy of result is improved.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (10)
1. a kind of CT Guided Percutaneous lung puncture space auxiliary locator, it is characterised in that including：Base module, X-axis level are moved
Dynamic model block, Y-axis move horizontally module, Z axis vertical lift module, α axle pose adjustment modules and β axle pose adjustment modules, wherein：
The X-axis moves horizontally module and is fixed on base module, and the Y-axis moves horizontally module and moved horizontally installed in X-axis
In module, the Z axis vertical lift module is moved horizontally in module installed in Y-axis, and the α axles pose adjustment module is hung down with Z axis
Go straight up to drop module to be connected, the β axles pose adjustment module is connected with α axle pose adjustment modules.
2. CT Guided Percutaneous lung puncture space according to claim 1 auxiliary locator, it is characterised in that the base
Module, including：Left side claw, middle claw, the right claw, connecting plate, datum plate, horizontal adjustment plate and adjustment screw；Wherein：
The one side of the left side claw, middle claw and the right claw is fixedly connected sequentially by connecting plate, the left side card
The upper end of pawl, middle claw and the right claw is connected with datum plate respectively, and the horizontal adjustment plate is arranged on datum plate, and is led to
Cross the levelness that adjustment screw adjusts horizontal adjustment plate；The lower end of the left side claw, middle claw and the right claw is set respectively
There is recess.
3. CT Guided Percutaneous lung puncture space according to claim 1 auxiliary locator, it is characterised in that the X-axis
Module is moved horizontally, including：X-axis adjusting nut, X-axis screw mandrel and X-axis framework；Wherein：
The bottom surface of the X-axis framework is connected with base module, and the X-axis adjusting nut is connected with X-axis screw mandrel, the Y-axis level
Mobile module is connected on X-axis screw mandrel；The X-axis adjusting nut rotation, drives X-axis screw mandrel to rotate, so as to drive Y-axis level to move
Dynamic model block is moved horizontally along X-axis；The X-axis framework has the effect of X-axis motion guide.
4. CT Guided Percutaneous lung puncture space according to claim 1 auxiliary locator, it is characterised in that the Y-axis
Module is moved horizontally, including：Y-axis framework, Y-axis adjusting nut and Y-axis screw mandrel；Wherein：
The lower surface of the Y-axis framework moves horizontally module with X-axis and is connected, one end phase of the Y-axis adjusting nut and Y-axis screw mandrel
Even, the Z axis vertical lift module is connected on Y-axis screw mandrel；The Y-axis adjusting nut rotation, drives Y-axis screw mandrel to rotate, from
And drive Z axis to be vertically moved up or down module and moved horizontally along Y-axis, the Y-axis framework has the effect of Y-axis motion guide.
5. CT Guided Percutaneous lung puncture space according to claim 1 auxiliary locator, it is characterised in that the Z axis
Module is vertically moved up or down, including：Z axis framework, Z axis adjusting nut, Z axis screw mandrel and Z axis sliding block；Wherein：
The lower end of the Z axis framework moves horizontally module with Y-axis and is connected, one end phase of the Z axis adjusting nut and Z axis screw mandrel
Even, the lower end of the Z axis sliding block is connected with Z axis screw mandrel；The Z axis adjusting nut rotation, drives Z axis screw mandrel to rotate, so that band
Dynamic Z axis sliding block is vertically moved along Z axis, and the Z axis framework has the effect of Z axis motion guide.
6. CT Guided Percutaneous lung puncture space according to claim 1 auxiliary locator, it is characterised in that the α axles
Pose adjustment module, including：α rotary shafts and α axle frameworks；Wherein：
The α rotary shafts are arranged in Z axis vertical lift module, and the α axles framework is connected with α rotary shafts；The α axles framework leads to
α rotary shafts are crossed relative to Z axis vertical lift module rotation.
7. CT Guided Percutaneous lung puncture space according to claim 6 auxiliary locator, it is characterised in that the β axles
Pose adjustment module, including：β rotary shafts and β axle frameworks；Wherein：
The β rotary shafts are arranged on two sides of the α axle frameworks of α axle pose adjustment modules, and the β axles framework is rotated by β
Axle is connected with α axle frameworks；The β axles framework is rotated by β rotary shafts relative to α axles framework；The rotation axis and α of β axle frameworks
The rotation axis of axle framework is mutually perpendicular to and intersects at a P points, and the P points are located at the middle part of β axle frameworks.
8. CT Guided Percutaneous lung puncture space according to claim 7 auxiliary locator, it is characterised in that also including such as
Under any one or any number of parts：
- puncture needle, the puncture needle is passed through from P points；
- CT leading percutaneous puncture modules, including three point on a straight line adjustment unit, the three point on a straight line adjustment unit are adjusted according to CT images
Whole P point positions and/or the posture for adjusting puncture needle so that space line where puncture needle by puncture entry position Q points and
Puncture lesion center O points, i.e. P points, Q points, O point three point on a straight line.
9. CT Guided Percutaneous lung puncture space according to claim 8 auxiliary locator, it is characterised in that the CT figures
As including following information：
The spatial coordinated information of-puncture lesion center O points；
- puncture needle is relative to the locus and attitude information for puncturing lesion center O points.
10. CT Guided Percutaneous lung puncture space according to any one of claim 1 to 9 auxiliary locator, its feature
It is, in addition to following any one or any multinomial feature：
The moving range that the X-axis moves horizontally module is 0~210mm；
The moving range that the Y-axis moves horizontally module is 0~220mm；
The moving range of the Z axis vertical lift module is 0~50mm；
The moving range of the α axles pose adjustment module is 0~± 90 degree；
The moving range of the β axles pose adjustment module is 0~± 30 degree；
The appearance and size (x, y, z) of CT Guided Percutaneous lung puncture space auxiliary locator be to the maximum (340mm, 285mm,
360mm)；
The α axles pose adjustment module, β axle pose adjustments module, X-axis move horizontally module, Y-axis and move horizontally module and Z
Axle vertical lift module uses nonmetallic materials.
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| CN201710263815.2A CN106974707B (en) | 2017-04-21 | 2017-04-21 | CT-guided percutaneous pulmonary puncture space auxiliary positioning device |
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| CN107928794A (en) * | 2017-11-16 | 2018-04-20 | 上海墨汇机器人科技有限公司 | A kind of method precisely punctured using robot and the robot |
| CN108210092A (en) * | 2018-02-12 | 2018-06-29 | 史航 | A kind of novel accurate spinal puncture positioning device of three axis adjustable type |
| CN108392253A (en) * | 2018-03-21 | 2018-08-14 | 天津大学 | A kind of console mode tumour radiotherapy seeds implanted treatment automatic puncturing device |
| CN109077784A (en) * | 2018-08-20 | 2018-12-25 | 朱远湖 | Comprehensive piercing mechanism and medical accurate lancing system |
| CN109771007A (en) * | 2019-03-01 | 2019-05-21 | 常州市第二人民医院 | Percutaneous foramen intervertebrale lens service aisle locating guider |
| JP2019134917A (en) * | 2017-12-21 | 2019-08-15 | シーメンス ヘルスケア ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | Method for registration on setting alignment of instrument, and robot system |
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| CN111012456A (en) * | 2020-01-06 | 2020-04-17 | 赛诺联合医疗科技（北京）有限公司 | Ablation operation automatic positioning and needle inserting device based on image guide equipment |
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| CN107928794A (en) * | 2017-11-16 | 2018-04-20 | 上海墨汇机器人科技有限公司 | A kind of method precisely punctured using robot and the robot |
| JP2019134917A (en) * | 2017-12-21 | 2019-08-15 | シーメンス ヘルスケア ゲゼルシヤフト ミツト ベシユレンクテル ハフツング | Method for registration on setting alignment of instrument, and robot system |
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| CN108392253A (en) * | 2018-03-21 | 2018-08-14 | 天津大学 | A kind of console mode tumour radiotherapy seeds implanted treatment automatic puncturing device |
| CN109077784A (en) * | 2018-08-20 | 2018-12-25 | 朱远湖 | Comprehensive piercing mechanism and medical accurate lancing system |
| CN109077784B (en) * | 2018-08-20 | 2023-11-24 | 朱远湖 | Omnibearing puncture mechanism and medical accurate puncture system |
| CN109771007A (en) * | 2019-03-01 | 2019-05-21 | 常州市第二人民医院 | Percutaneous foramen intervertebrale lens service aisle locating guider |
| CN109771007B (en) * | 2019-03-01 | 2024-04-30 | 常州市第二人民医院 | Percutaneous intervertebral foramen mirror working channel positioning guider |
| CN110680481A (en) * | 2019-11-15 | 2020-01-14 | 元亨同基医疗器械(北京)有限公司 | Method for adjusting launching position of guide holder of puncture positioning instrument |
| CN110811782A (en) * | 2019-11-25 | 2020-02-21 | 亿盛欣科技(北京)有限公司 | Needle holder for puncture of CT (computed tomography) fluoroscopy robot |
| CN111012456A (en) * | 2020-01-06 | 2020-04-17 | 赛诺联合医疗科技（北京）有限公司 | Ablation operation automatic positioning and needle inserting device based on image guide equipment |
| CN112674850A (en) * | 2021-01-05 | 2021-04-20 | 上海睿触科技有限公司 | Compact image-guided puncture surgery auxiliary system |
| CN112674850B (en) * | 2021-01-05 | 2023-09-26 | 上海睿触科技有限公司 | Compact image-guided puncture operation auxiliary system |
| CN114431938A (en) * | 2022-02-25 | 2022-05-06 | 上海睿触科技有限公司 | Novel CT guide under puncture assistance-localization real-time device |
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