CN106974707B - CT-guided percutaneous pulmonary puncture space auxiliary positioning device - Google Patents
CT-guided percutaneous pulmonary puncture space auxiliary positioning device Download PDFInfo
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- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- 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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Abstract
The utility model provides an auxiliary positioning device for CT guided percutaneous pulmonary puncture space, which comprises a base module, an X-axis horizontal movement module, a Y-axis horizontal movement module, a Z-axis vertical lifting module, an alpha-axis posture adjustment module and a beta-axis posture adjustment module which are connected in sequence. The puncture needle passes through the axes of the alpha and beta shafts, and when the rotation angles of the alpha and beta shafts are adjusted, the coordinates of the axes are kept unchanged. The coordinates of the alpha and beta axes can be adjusted by adjusting the X, Y, Z module. The utility model is convenient for the space auxiliary positioning of the puncture needle in the percutaneous pulmonary puncture operation process, the auxiliary device can enter CT to scan the pulmonary image of a patient, the accurate adjustment function greatly improves the accuracy and success rate of the puncture operation, and has wide application prospect for other similar puncture operations.
Description
Technical Field
The utility model relates to the technical field of medical instruments, in particular to a CT guiding percutaneous pulmonary puncture space auxiliary positioning device with controllable coordinates and postures.
Background
At present, clinical diagnostic means of lung lesions include bronchoscopy, thoracoscopy and percutaneous lung puncture biopsy, but bronchoscopy has higher diagnostic value only for central lesions, biopsy under thoracoscopy has higher diagnostic accuracy, but operation wounds are relatively larger, complication occurrence rate is higher, and certain limitation exists. However, the clinical application of percutaneous pulmonary puncture is far less widespread than that of bronchofiberscope, mainly for the following reasons:
1. traditional lung puncture belongs to invasive examination, and patients and families are poor in acceptance.
2. Pneumothorax and hemorrhage complications can occur.
3. The operation is relatively difficult, and requires experienced operations by respiratory or radiologists, with a high failure rate.
4. And a convenient and accurate auxiliary positioning device is lacked.
In the traditional puncture method, when CT positioning is needed after the puncture needle is inserted into the lung, the puncture needle cannot be fixed, so that the puncture needle can swing along with the respiration of a patient, and the needle insertion angle is easy to change, so that puncture failure and even complications such as bleeding, pneumothorax and the like can be caused by the displacement of the puncture needle.
Through retrieval, xia Haibao et al published a paper of "development of lung puncture positioning device under CT guidance" in China digital medicine, describe a puncture positioning device capable of positioning in two degrees of freedom, but the positioning of a puncture needle is complicated space positioning of 5 degrees of freedom, so that the device cannot adjust space coordinate positions, and direct parameters are not available for rapidly and accurately determining the needle insertion direction and focus position.
The utility model patent with the application number of CN201521064681.4 discloses a vertical mobile puncture robot which adopts a wheel type moving mode, has a large size, cannot enter a CT tomography scanner along with the movement of a CT bed for on-line detection, and does not describe how to guide and realize the combination of CT.
No description or report of similar technology is found at present, and similar data at home and abroad are not collected.
Disclosure of Invention
Aiming at the defects in the prior art, the utility model aims to provide the CT-guided percutaneous lung puncture space auxiliary positioning device which is simple and convenient, can independently perform posture adjustment and coordinate adjustment, can enter a CT machine for image scanning, can reduce cost and can improve the positioning precision of percutaneous lung puncture.
The utility model is realized by the following technical scheme.
A CT-guided percutaneous pulmonary puncture spatial assistance localization real-time device, comprising: base module, X axle horizontal migration module, Y axle horizontal migration module, Z axle vertical lift module, alpha axle gesture adjustment module and beta axle gesture adjustment module, wherein:
the X-axis horizontal movement module is fixed on the base module, the Y-axis horizontal movement module is installed on the X-axis horizontal movement module, the Z-axis vertical lifting module is installed on the Y-axis horizontal movement module, the alpha-axis posture adjustment module is connected with the Z-axis vertical lifting module, and the beta-axis posture adjustment module is connected with the alpha-axis posture adjustment module.
Preferably, the base module includes: the device comprises a left claw, a middle claw, a right claw, a connecting plate, a reference plate, a horizontal adjusting plate and an adjusting screw; wherein:
one side surfaces of the left claw, the middle claw and the right claw are sequentially and fixedly connected through connecting plates, the upper ends of the left claw, the middle claw and the right claw are respectively connected with a reference plate, and the horizontal adjusting plate is arranged on the reference plate and adjusts the levelness of the horizontal adjusting plate through adjusting screws; the lower ends of the left claw, the middle claw and the right claw are respectively provided with a notch.
Preferably, the X-axis horizontal movement module includes: the X-axis adjusting nut, the X-axis screw rod and the X-axis frame; wherein:
the bottom surface of the X-axis frame is connected with the base module, the X-axis adjusting nut is connected with the X-axis screw rod, and the Y-axis horizontal movement module is connected to the X-axis screw rod; the X-axis adjusting nut rotates to drive the X-axis screw rod to rotate, so that the Y-axis horizontal moving module is driven to horizontally move along the X axis; the X-axis frame has an X-axis motion guiding function.
Preferably, the Y-axis horizontal movement module includes: the Y-axis frame, the Y-axis adjusting nut and the Y-axis screw rod; wherein:
the lower surface of the Y-axis frame is connected with an X-axis horizontal movement module, the Y-axis adjusting nut is connected with one end of a Y-axis screw rod, and the Z-axis vertical lifting module is connected to the Y-axis screw rod; the Y-axis adjusting nut rotates to drive the Y-axis screw rod to rotate, so that the Z-axis vertical lifting module is driven to horizontally move along the Y axis, and the Y-axis frame has a Y-axis movement guiding function.
Preferably, the Z-axis vertical lift module includes: the Z-axis frame, the Z-axis adjusting nut, the Z-axis screw rod and the Z-axis sliding block; wherein:
the lower end of the Z-axis frame is connected with the Y-axis horizontal movement module, the Z-axis adjusting nut is connected with one end of the Z-axis screw rod, and the lower end of the Z-axis sliding block is connected with the Z-axis screw rod; the Z-axis adjusting nut rotates to drive the Z-axis screw rod to rotate, so that the Z-axis sliding block is driven to vertically move along the Z axis, and the Z-axis frame has a Z-axis movement guiding function.
Preferably, the α -axis posture adjustment module includes: an alpha rotation axis and an alpha axis frame; wherein:
the alpha rotating shaft is arranged on the Z-axis vertical lifting module, and the alpha shaft frame is connected with the alpha rotating shaft; the alpha-axis frame rotates relative to the Z-axis vertical lifting module through an alpha-axis shaft.
Preferably, the β -axis attitude adjustment module includes: a beta-axis of rotation and a beta-axis frame; wherein:
the beta rotating shafts are arranged on two side surfaces of an alpha-axis frame of the alpha-axis posture adjustment module, and the beta-axis frame is connected with the alpha-axis frame through the beta rotating shafts; the beta-axis frame rotates relative to the alpha-axis frame through a beta-axis of rotation; the rotation axis of the beta-axis frame and the rotation axis of the alpha-axis frame are perpendicular to each other and intersect at a point P, and the point P is positioned at the middle part of the beta-axis frame.
Preferably, any one or more of the following components are also included:
-a puncture needle passing from point P;
the CT guiding percutaneous puncture module comprises a three-point collineation adjustment unit, wherein the three-point collineation adjustment unit adjusts the position of a P point and/or adjusts the posture of a puncture needle according to a CT image, so that a space straight line where the puncture needle is positioned passes through a puncture inlet position Q point and a puncture focus center O point, namely the three points of the P point, the Q point and the O point are collineation.
Preferably, the CT image includes the following information:
-spatial coordinate information of the center O-point of the puncture lesion;
spatial position and attitude information of the needle relative to the central O-point of the puncture lesion.
Preferably, the method further comprises any one or more of the following features:
the moving range of the X-axis horizontal moving module is 0-210 mm;
the movement range of the Y-axis horizontal movement module is 0-220 mm;
the moving range of the Z-axis vertical lifting module is 0-50 mm;
the moving range of the alpha-axis attitude adjusting module is 0 to +/-90 degrees;
the moving range of the beta-axis attitude adjusting module is 0 to +/-30 degrees;
the external dimension (x, y, z) of the CT guiding percutaneous pulmonary puncture space auxiliary positioning device is (340 mm, 284 mm,360 mm) at most;
the alpha-axis posture adjustment module, the beta-axis posture adjustment module, the X-axis horizontal movement module, the Y-axis horizontal movement module and the Z-axis vertical lifting module are all made of nonmetal materials.
The CT guiding percutaneous pulmonary puncture space auxiliary positioning device provided by the utility model has 5 degrees of freedom, and comprises the following components from bottom to top: x-axis horizontal freedom, Y-axis horizontal freedom, Z-axis vertical freedom, alpha-axis attitude adjustment freedom and beta-axis rotation freedom; wherein:
the Y-axis horizontal movement module is driven by the X-axis adjusting nut to move along the X-axis direction, so that the X-axis horizontal freedom degree is realized;
the Z-axis vertical lifting module is driven by the Y-axis adjusting nut to move along the Y-axis direction, so that the Y-axis horizontal freedom degree is realized;
the Z-axis module moves along the Z-axis direction under the drive of the Z-axis adjusting nut, so that the vertical degree of freedom of the Z-axis is realized;
the alpha-axis posture adjustment module manually rotates around an alpha-axis rotation, so that the degree of freedom of alpha-axis posture adjustment is realized;
the beta-axis posture adjustment module manually rotates around a beta-rotation axis to realize the degree of freedom of beta-axis posture adjustment;
the puncture needle passes through the middle of the alpha-axis frame and the beta-axis frame, and the attitude adjustment degrees of freedom of the alpha-axis and the beta-axis are adjusted, so that the attitude angle of the puncture needle is adjusted.
The utility model provides an auxiliary positioning device for CT guided percutaneous pulmonary puncture space, which has the following working principle:
CT guided percutaneous pulmonary puncture systems generally include: a CT bed, a CT tomoscanner, a CT guidance computer and an operating table. Under the operating condition, the base module is arranged at one side of the CT bed. The patient is prone on the CT bed, and the back of the patient is arranged below the CT-guided percutaneous pulmonary puncture space auxiliary positioning device. The CT tomography scanner can obtain the space coordinate of the center O point of the puncture focus of the patient, and can also obtain the space position and the gesture (CT image) of the puncture needle relative to the center O point of the puncture focus, and the space coordinate is sent to the CT guiding percutaneous puncture module. The operation table is respectively connected with a CT tomography scanner and a CT guiding computer, and a CT guiding percutaneous puncture module is arranged on the CT guiding computer. The three-point collineation adjustment unit in the CT guided percutaneous puncture module can accurately display the coordinates of the center O point of the puncture focus of the patient, the relative positions of the straight line where the puncture needle is positioned and the focus and the required spatial posture. If the CT guiding percutaneous puncture module finds that the straight line of the puncture needle does not pass through the center O point of the puncture focus, the three-point collineation adjustment unit gives out alpha and beta angles and X, Y, Z coordinates which are adjusted by the alpha axis posture adjustment module, the beta axis posture adjustment module, the X axis horizontal movement module, the Y axis horizontal movement module and the Z axis vertical lifting module. That is, the CT guided percutaneous puncture module can adjust not only the posture of the puncture needle but also the P point position according to the CT image.
The CT guiding percutaneous pulmonary puncture space auxiliary positioning device provided by the utility model has the following positioning and adjusting processes of a puncture needle:
firstly, a puncture needle passes through a P point in the middle of a beta-axis frame and is fixed; the device is then pushed into the CT machine with the patient for imaging. The CT guide percutaneous puncture module determines the position of the P point according to the result of CT imaging. And then the P point is adjusted to a required position by adjusting the X-axis adjusting nut, the Y-axis adjusting nut and the Z-axis adjusting nut. And then according to the tumor position determined by the CT imaging result, the puncture needle points to the tumor position by adjusting an alpha-axis posture adjusting module and a beta-axis posture adjusting module, so that the skin position pointed by the puncture needle is the puncture entrance position Q point of the skin. Finally, the device and patient can be repeatedly fed into the CT machine for imaging to accurately adjust.
The utility model provides a CT guided percutaneous lung puncture space auxiliary positioning device, which adopts a base module, an X-axis horizontal movement module, a Y-axis horizontal movement module, a Z-axis vertical lifting module, an alpha-axis posture adjustment module and a beta-axis posture adjustment module which are sequentially connected, wherein a puncture needle penetrates through the axes of an alpha axis and a beta axis, and when the rotation angles of the alpha axis and the beta axis are adjusted, the coordinates of the axes are kept unchanged; the coordinates of the axes of the alpha and beta axes can be adjusted by adjusting the X-axis horizontal movement module, the Y-axis horizontal movement module and the Z-axis vertical lifting module.
Compared with the prior art, the utility model has the following beneficial effects:
the utility model is convenient for the space auxiliary positioning of the puncture needle in the percutaneous pulmonary puncture operation process, the auxiliary device can enter the CT machine to scan the pulmonary image of the patient, the accurate adjustment function greatly improves the accuracy and success rate of the puncture operation, and the utility model has wide application prospect for other similar puncture operations.
Drawings
Other features, objects and advantages of the present utility model will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of an overall structure of an embodiment of the present utility model;
in the figure:
1 is a left claw, 2 is a middle claw, 3 is a right claw, 4 is a connecting plate, 5 is a reference plate, 6 is a horizontal adjusting plate, 7 is an adjusting screw, 8 is an X-axis adjusting nut, 9 is an X-axis screw rod, 10 is an X-axis frame, 11 is a Y-axis adjusting nut, 12 is a Y-axis frame, 13 is a Y-axis screw rod, 14 is a Z-axis frame, 15 is a Z-axis screw rod, 16 is a Z-axis adjusting nut, 17 is a Z-axis slide block, 18 is an alpha-axis frame, 19 is an alpha-axis, 20 is a beta-axis frame, 21 is a beta-axis, 22 is a puncture needle, 23 is a CT bed, 24 is a focus, 25 is a back needle inlet point, 26 is a CT tomograph, 27 is a CT guiding computer, 28 is an operation table, and 29 is a CT guiding percutaneous puncture module.
Detailed Description
The present utility model will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present utility model, but are not intended to limit the utility model in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present utility model.
Examples
As shown in fig. 1, the present embodiment provides a CT-guided percutaneous pulmonary puncture space-assisted positioning device, including: the device comprises a base module, an X-axis horizontal movement module, a Y-axis horizontal movement module, a Z-axis vertical lifting module, an alpha-axis posture adjustment module and a beta-axis posture adjustment module. Wherein:
the X-axis horizontal movement module is fixed on the base module, the Y-axis horizontal movement module is installed on the X-axis horizontal movement module, the Z-axis vertical lifting module is installed on the Y-axis horizontal movement module, the alpha-axis posture adjustment module is connected with the Z-axis vertical lifting module, and the beta-axis posture adjustment module is connected with the alpha-axis posture adjustment module.
The base module is used as a reference platform, a left claw 1, a middle claw 2 and a right claw 3 are arranged below the base module and are installed and fixed on the CT bed through notches below the claws, and the middle parts (one side surfaces) of the three claws are sequentially fixed together through a connecting plate 4. The upper surfaces of the three jaws are connected together by a datum plate 5. The reference plate 5 is provided with a horizontal adjusting plate 6, and the levelness of the horizontal adjusting plate 6 can be adjusted by adjusting screws 7.
The device provided by this embodiment, from the horizontal movement module of X axle to the attitude adjustment module of beta axle, totally 5 degrees of freedom are respectively from the bottom up: the horizontal degree of freedom of the X axis, the horizontal degree of freedom of the Y axis, the vertical degree of freedom of the Z axis, the attitude adjustment degree of freedom of the alpha axis and the attitude adjustment degree of freedom of the beta axis. The method comprises the following steps:
the Y-axis horizontal movement module is driven by the X-axis adjusting nut 8 to move along the X-axis direction, so that the horizontal degree of freedom of the X-axis is realized; the Z-axis vertical movement module is driven by the Y-axis adjusting nut 11 to move along the Y-axis direction, so that the horizontal freedom degree of the Y-axis is realized; the Z-axis module moves along the Z-axis direction under the drive of the Z-axis adjusting nut 16, so that the vertical freedom degree of the Z-axis is realized; the alpha-axis posture adjustment module can manually rotate around the alpha-axis 19 to realize the degree of freedom of posture adjustment of the alpha-axis; the β -axis posture adjustment module is manually rotatable about the β -axis rotation shaft 21, and realizes a degree of freedom of posture adjustment of the β -axis. The puncture needle 22 passes through the middle of the alpha-axis frame 18 and the beta-axis frame 20, and the degree of freedom of the alpha-axis and the beta-axis is adjusted, so that the posture angle of the puncture needle 22 can be adjusted.
Preferably, the base module includes: the left clamping jaw 1, the middle clamping jaw 2, the right clamping jaw 3, the connecting plate 4, the reference plate 5, the horizontal adjusting plate 6 and the adjusting screw 7; wherein:
the lower surfaces of the left clamping jaw 1, the middle clamping jaw 2 and the right clamping jaw 3 are provided with notches for being installed and fixed on the CT bedside, and the middle parts (one side surfaces) of the three clamping jaws are sequentially fixed together through a connecting plate 4. The upper surfaces of the three jaws are connected together by a datum plate 5. The reference plate 5 is provided with a horizontal adjusting plate 6, and the levelness of the horizontal adjusting plate 6 can be adjusted by four adjusting screws 7.
Preferably, the X-axis horizontal movement module includes: an X-axis adjusting nut 8, an X-axis screw rod 9 and an X-axis frame 10; wherein:
the bottom surface of the X-axis frame 10 is connected with the upper surface of the horizontal adjusting plate 6 of the base module, the X-axis adjusting nut 7 is connected with the X-axis screw rod 9, and the lower surface (lower end) of the Y-axis frame 12 of the Y-axis horizontal moving module is connected with the X-axis screw rod 9. The X-axis adjusting nut 8 rotates to drive the X-axis screw rod 9 to rotate, so that the Y-axis horizontal moving module is driven to move horizontally along the X axis. The X-axis frame 10 also serves as a guide for X-axis movement.
Preferably, the Y-axis horizontal movement module includes: a Y-axis frame 12, a Y-axis adjusting nut 11 and a Y-axis screw rod 13; wherein:
the Y-axis frame 12 is connected with an X-axis screw rod 9 of the X-axis horizontal movement module, a Y-axis adjusting nut 11 is connected with one end of a Y-axis screw rod 13, and the lower surface of a Z-axis frame 14 of the Z-axis vertical lifting module is connected with the middle of the Y-axis screw rod 13. The Y-axis frame 12 also serves as a guide for Y-axis movement.
Preferably, the Z-axis vertical lift module includes: the Z-axis frame 14, the Z-axis adjusting nut 16, the Z-axis screw rod 15 and the Z-axis sliding block 17; wherein:
the Z-axis frame 14 is connected with a Y-axis screw rod 13 of the Y-axis horizontal movement module, a Z-axis adjusting nut 16 is connected with one end of the Z-axis screw rod 15, and the lower end of the Z-axis sliding block 17 is connected with the middle of the Z-axis screw rod 15. The Z-axis frame 14 also serves as a guide for vertical movement of the Z-axis.
Preferably, the α -axis posture adjustment module includes: an α -axis of rotation 19, an α -axis frame 18; wherein:
the alpha rotating shaft 19 is arranged at the upper end of the Z-axis sliding block 17 of the Z-axis vertical lifting module, and the alpha-axis frame 18 is connected with the alpha rotating shaft 19. The α -axis frame 18 is rotatable with respect to the Z-axis slider 17 by an α -axis rotation shaft 19.
Preferably, the β -axis attitude adjustment module includes: a β rotation shaft 21, a β shaft frame 20; wherein:
the β rotation shafts 21 are mounted on both side surfaces of the α -axis frame 18 of the α -axis posture adjustment module, and the β -axis frame 20 is connected to the α -axis frame 18 through the β rotation shafts 21. The β -axis frame 20 rotates relative to the α -axis frame 18 through the β -axis of rotation 21. The axis of rotation of the beta frame 20 and the axis of rotation of the alpha frame 18 are perpendicular to each other and intersect at a point P, which is located at the middle of the beta frame 20. The puncture needle 22 passes through the point P.
Preferably, any one or more of the following components are also included:
-a puncture needle passing from point P;
the CT guiding percutaneous puncture module comprises a three-point collineation adjustment unit, wherein the three-point collineation adjustment unit adjusts the position of a P point and/or adjusts the posture of a puncture needle according to a CT image, so that a space straight line where the puncture needle is positioned passes through a puncture inlet position Q point and a puncture focus center O point, namely the three points of the P point, the Q point and the O point are collineation.
Preferably, the CT image includes the following information:
-spatial coordinate information of the center O-point of the puncture lesion;
spatial position and attitude information of the needle relative to the focal center O-point.
Preferably, the moving range of the X-axis horizontal moving module is 0-210 mm, the moving range of the Y-axis horizontal moving module is 0-220 mm, the moving range of the Z-axis vertical lifting module is 0-50 mm, the moving range of the alpha-axis posture adjusting module is 0-90 degrees, and the moving range of the beta-axis posture adjusting module is 0-30 degrees.
The CT guiding percutaneous pulmonary puncture space auxiliary positioning device has the following external dimensions:
x：340mm，y：285mm，z：360mm。
the size can ensure the maximum working space and can conveniently enter the CT tomography scanner along with the CT bed.
Preferably, the alpha-axis posture adjusting module, the beta-axis posture adjusting module, the X-axis horizontal moving module, the Y-axis horizontal moving module and the Z-axis vertical lifting module are all made of metal materials, and the adopted materials are non-metal materials such as nylon or resin. The auxiliary positioning device is ensured not to cause any influence on imaging when entering the CT tomography scanner.
When sampling a percutaneous pulmonary puncture focus, the three-point collineation adjustment unit needs to adjust the posture of the puncture needle by adjusting the alpha-axis posture adjustment module and the beta-axis posture adjustment module, namely the alpha-axis posture and the beta-axis posture, so that the straight line of the puncture needle is parallel to the straight line of the center O point of the puncture focus and the point of the puncture inlet position Q; then, by adjusting the X-axis horizontal movement module, the Y-axis horizontal movement module and the Z-axis vertical lifting module, the needle insertion point of the tail end of the puncture needle on the back of the human body is further determined, namely the coordinate X, Y, Z of the tail end of the puncture needle needs to be determined. Finally, the percutaneous puncture module is guided by CT to carry out detection and observation, so as to ensure the intersection point P of the alpha axis and the beta axis, the coordinates (X, Y and Z) of the tail end of the puncture needle, the coordinates of the center O point of the puncture focus in the lung and the three points on the same straight line, thus completing the positioning of the puncture needle. If the CT guided percutaneous puncture module finds deviation, the adjustment process can be continuously completed through the steps.
The positioning adjustment process of the puncture needle 22 is as follows:
firstly, the puncture needle 22 passes through the P point in the middle of the beta-axis frame 20 and is fixed; the device is then pushed into the CT machine with the patient for imaging. The CT guide percutaneous puncture module determines the position of the P point according to the imaging result. Then, the P point is adjusted to a required position by adjusting the X-axis adjusting nut 8, the Y-axis adjusting nut 11 and the Z-axis adjusting nut 16. And then according to the tumor position determined by the CT image, the puncture needle 22 points to the tumor position by adjusting the alpha-axis posture adjusting module and the beta-axis posture adjusting module, so that the skin position pointed by the puncture needle 22 is the puncture entrance position Q point of the skin. Finally, the device and patient can be repeatedly fed into the CT machine for imaging to accurately adjust.
The CT guide percutaneous lung puncture space auxiliary positioning device provided by the embodiment:
the device facilitates the space auxiliary positioning of the puncture needle in the percutaneous pulmonary puncture operation process, the auxiliary device can enter the CT machine to scan the pulmonary image of a patient, the accurate adjustment function greatly improves the accuracy and success rate of the puncture operation, and the device has wide application prospect for other similar puncture operations.
Not only can the coordinates of the puncture needle be adjusted, but also the posture of the puncture needle can be independently adjusted. The utility model facilitates the space auxiliary positioning of the puncture needle in the percutaneous pulmonary puncture operation process, and the auxiliary device can also enter CT for image scanning, thereby reducing the technical difficulty of the pulmonary puncture operation and improving the success rate of the operation and the accuracy of the result.
The foregoing describes specific embodiments of the present utility model. It is to be understood that the utility model is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the utility model.
Claims (7)
1. A CT-guided percutaneous pulmonary puncture space-assisted positioning device, comprising: base module, X axle horizontal migration module, Y axle horizontal migration module, Z axle vertical lift module, alpha axle gesture adjustment module and beta axle gesture adjustment module, wherein:
the X-axis horizontal movement module is fixed on the base module, the Y-axis horizontal movement module is arranged on the X-axis horizontal movement module, the Z-axis vertical lifting module is arranged on the Y-axis horizontal movement module, the alpha-axis posture adjustment module is connected with the Z-axis vertical lifting module, and the beta-axis posture adjustment module is connected with the alpha-axis posture adjustment module;
the alpha-axis attitude adjustment module includes: an alpha rotation axis and an alpha axis frame; wherein:
the alpha rotating shaft is arranged on the Z-axis vertical lifting module, and the alpha shaft frame is connected with the alpha rotating shaft; the alpha-axis frame rotates relative to the Z-axis vertical lifting module through an alpha-axis rotating shaft;
the beta-axis attitude adjustment module includes: a beta-axis of rotation and a beta-axis frame; wherein:
the beta rotating shafts are arranged on two side surfaces of an alpha-axis frame of the alpha-axis posture adjustment module, and the beta-axis frame is connected with the alpha-axis frame through the beta rotating shafts; the beta-axis frame rotates relative to the alpha-axis frame through a beta-axis of rotation; the rotating axis of the beta-axis frame and the rotating axis of the alpha-axis frame are mutually perpendicular and intersect at a P point, and the P point is positioned at the middle part of the beta-axis frame;
the CT guided percutaneous pulmonary puncture space auxiliary positioning device also comprises any one or more of the following components:
-a puncture needle passing from point P;
the CT guiding percutaneous puncture module comprises a three-point collineation adjustment unit, wherein the three-point collineation adjustment unit adjusts the position of a P point and/or adjusts the posture of a puncture needle according to a CT image, so that a space straight line where the puncture needle is positioned passes through a puncture inlet position Q point and a puncture focus center O point, namely the three points of the P point, the Q point and the O point are collineation.
2. The CT-guided percutaneous pulmonary puncture spatial assistance localization apparatus of claim 1, wherein the base module comprises: the device comprises a left claw, a middle claw, a right claw, a connecting plate, a reference plate, a horizontal adjusting plate and an adjusting screw; wherein:
one side surfaces of the left claw, the middle claw and the right claw are sequentially and fixedly connected through connecting plates, the upper ends of the left claw, the middle claw and the right claw are respectively connected with a reference plate, and the horizontal adjusting plate is arranged on the reference plate and adjusts the levelness of the horizontal adjusting plate through adjusting screws; the lower ends of the left claw, the middle claw and the right claw are respectively provided with a notch.
3. The CT-guided percutaneous pulmonary puncture spatial assistance localization apparatus of claim 1, wherein the X-axis horizontal movement module comprises: the X-axis adjusting nut, the X-axis screw rod and the X-axis frame; wherein:
the bottom surface of the X-axis frame is connected with the base module, the X-axis adjusting nut is connected with the X-axis screw rod, and the Y-axis horizontal movement module is connected to the X-axis screw rod; the X-axis adjusting nut rotates to drive the X-axis screw rod to rotate, so that the Y-axis horizontal moving module is driven to horizontally move along the X axis; the X-axis frame has an X-axis motion guiding function.
4. The CT-guided percutaneous pulmonary puncture spatial assistance localization apparatus of claim 1, wherein the Y-axis horizontal movement module comprises: the Y-axis frame, the Y-axis adjusting nut and the Y-axis screw rod; wherein:
the lower surface of the Y-axis frame is connected with an X-axis horizontal movement module, the Y-axis adjusting nut is connected with one end of a Y-axis screw rod, and the Z-axis vertical lifting module is connected to the Y-axis screw rod; the Y-axis adjusting nut rotates to drive the Y-axis screw rod to rotate, so that the Z-axis vertical lifting module is driven to horizontally move along the Y axis, and the Y-axis frame has a Y-axis movement guiding function.
5. The CT-guided percutaneous pulmonary puncture spatial assistance positioning device according to claim 1, wherein the Z-axis vertical lift module comprises: the Z-axis frame, the Z-axis adjusting nut, the Z-axis screw rod and the Z-axis sliding block; wherein:
the lower end of the Z-axis frame is connected with the Y-axis horizontal movement module, the Z-axis adjusting nut is connected with one end of the Z-axis screw rod, and the lower end of the Z-axis sliding block is connected with the Z-axis screw rod; the Z-axis adjusting nut rotates to drive the Z-axis screw rod to rotate, so that the Z-axis sliding block is driven to vertically move along the Z axis, and the Z-axis frame has a Z-axis movement guiding function.
6. The CT-guided percutaneous pulmonary puncture spatial assistance localization apparatus of claim 1, wherein the CT image comprises the following information:
-spatial coordinate information of the center O-point of the puncture lesion;
spatial position and attitude information of the needle relative to the central O-point of the puncture lesion.
7. The CT-guided percutaneous pulmonary puncture spatial assistance localization apparatus of any one of claims 1-6, further comprising any one or more of the following features:
the moving range of the X-axis horizontal moving module is 0-210 mm;
the movement range of the Y-axis horizontal movement module is 0-220 mm;
the moving range of the Z-axis vertical lifting module is 0-50 mm;
the moving range of the alpha-axis attitude adjusting module is 0 to +/-90 degrees;
the moving range of the beta-axis attitude adjusting module is 0 to +/-30 degrees;
the external dimension (x, y, z) of the CT guiding percutaneous pulmonary puncture space auxiliary positioning device is (340 mm, 284 mm,360 mm) at most;
the alpha-axis posture adjustment module, the beta-axis posture adjustment module, the X-axis horizontal movement module, the Y-axis horizontal movement module and the Z-axis vertical lifting module are all made of nonmetal materials.
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| DE102017223598B4 (en) * | 2017-12-21 | 2021-05-20 | Siemens Healthcare Gmbh | Procedure for registration when setting an orientation of an instrument and robotic system |
| CN108210092A (en) * | 2018-02-12 | 2018-06-29 | 史航 | A kind of novel accurate spinal puncture positioning device of three axis adjustable type |
| CN108392253B (en) * | 2018-03-21 | 2020-01-14 | 天津大学 | Automatic puncture device for floor type tumor radioactive particle implantation treatment |
| CN109077784B (en) * | 2018-08-20 | 2023-11-24 | 朱远湖 | Omnibearing puncture mechanism and medical accurate puncture system |
| 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 |
| CN110680481B (en) * | 2019-11-15 | 2021-01-05 | 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 |
| CN110811782B (en) * | 2019-11-25 | 2020-11-27 | 亿盛欣科技(北京)有限公司 | Needle holder for puncture of CT (computed tomography) fluoroscopy robot |
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| 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 |
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