CN110522491B

CN110522491B - Medical device

Info

Publication number: CN110522491B
Application number: CN201810508477.9A
Authority: CN
Inventors: 王芸; 刘剑; 方啸; 李敦�
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2018-05-24
Filing date: 2018-05-24
Publication date: 2021-04-20
Anticipated expiration: 2038-05-24
Also published as: CN110522491A

Abstract

The present invention provides a medical device comprising: the sickbed device is used for bearing a patient to be scanned; the medical imaging device is used for scanning and imaging the lesion region of the patient; a robotic arm assembly having one end secured to the medical imaging device or the patient bed device; and the executive component is connected to the other end of the mechanical arm assembly, and the mechanical arm assembly drives the executive component to execute interventional operation according to the imaging of the lesion area. The mechanical arm assembly is adopted to execute drilling and interventional operation, so that the stability and the accuracy of the interventional operation are ensured, and the consistency of the effect after operation is ensured to be good; simultaneously, medical imaging device can form images to patient's focus region, can carry out intervention navigation to mechanical arm component after cooperating with mechanical arm component, can directly carry out intervention operation, has shortened operation time greatly, can also avoid repeatedly taking the problem that the radiant quantity that confirms focus region leads to increases simultaneously, and then avoids causing the damage to patient's health.

Description

Medical device

Technical Field

The invention relates to the technical field of medical equipment, in particular to medical equipment.

Background

At present, the traditional mechanical drilling process is used in neurosurgery operations such as cerebral hemorrhage, Parkinson's disease and epilepsy, general surgery operations such as tumor ablation, puncture and radioactive particle implantation, and even in orthopedic surgery and plastic surgery operations. However, when the needle is operated by hands, the precision and the stability have great uncertainty factors, and the path is invisible in the operation, so that the accuracy of determining the needle insertion and the punching needs to be determined by X-ray shooting for many times in the operation, the radiation quantity is increased, and the postoperative effect is inconsistent.

Disclosure of Invention

Therefore, it is necessary to provide a medical device capable of ensuring stability and accuracy in order to solve the problem of insufficient accuracy and stability caused by manually performing a drilling process in the current surgery.

The above purpose is realized by the following technical scheme:

a medical device, comprising:

a patient bed device for carrying a patient to be scanned;

a medical imaging device for scanning and imaging a lesion region of the patient;

a robotic arm assembly secured at one end to the medical imaging device or the patient bed device; and

and the executive component is connected to the other end of the mechanical arm assembly, and the mechanical arm assembly drives the executive component to execute interventional operation according to the imaging of the lesion area.

In one embodiment, the robotic arm assembly is removably mounted to the medical imaging device.

In one embodiment, the robotic arm assembly is rotatably mounted to the medical imaging device.

In one embodiment, the robotic arm assembly is removably mounted to the ground, wall, or ceiling such that the effector is operable for interventional manipulation of the lesion field.

In one embodiment, the patient bed device is liftable and the mechanical arm assembly is mounted on the patient bed device to follow the patient bed device.

In one embodiment, the medical apparatus further comprises a sliding rail disposed on the ground, wall, or ceiling;

the mechanical arm assembly is slidably arranged on the sliding track.

In one embodiment, the sliding rail has a long strip shape or an arc shape.

In one embodiment, the number of the mechanical arm assemblies is at least two, and the at least two mechanical arm assemblies are arranged on one side of the sickbed device side by side or are respectively arranged on two sides of the sickbed device.

In one embodiment, the mechanical arm assembly comprises a plurality of serial mechanisms and/or a plurality of parallel mechanisms, and the plurality of serial mechanisms and/or the plurality of parallel mechanisms are connected.

In one embodiment, the medical imaging device comprises a combination of one or more of a computed tomography system, a magnetic resonance imaging system, a positron emission tomography system, a radiation therapy system, an X-ray imaging system, a single photon emission computed tomography system, an ultrasound imaging system.

After the technical scheme is adopted, the invention has the beneficial effects that:

according to the medical equipment, the mechanical arm assembly is adopted to execute drilling and interventional operation, the problem that the accuracy and the stability are insufficient due to the fact that drilling operation is carried out manually at present is effectively solved, the stability and the accuracy of the interventional operation are guaranteed, and the consistency of effects after operation is good; simultaneously, medical imaging device can form images to patient's focus region, with mechanical arm component cooperation back, can intervene the navigation to mechanical arm component execution, just can directly carry out intervention operation after medical equipment imaging, has shortened operation time greatly, can also avoid repeatedly taking the problem that the radiant quantity that confirms focus region leads to increases simultaneously, and then avoids causing the damage to patient's health.

Drawings

FIG. 1 is a schematic view of one embodiment of a medical apparatus of the present invention, wherein a robotic arm assembly is disposed on a medical imaging device;

FIG. 2 is a schematic view of an embodiment of a medical device of the present invention in which the robotic arm assembly is disposed on a floor surface;

FIG. 3 is a schematic view of an embodiment of a medical device of the present invention in which the robotic arm assembly is disposed in a ceiling;

FIG. 4 is a schematic view of an embodiment of a medical apparatus of the present invention, wherein the robotic arm assembly is disposed on a patient bed device;

FIG. 5 is a schematic view of an embodiment of a medical device of the present invention, wherein the sliding track is disposed on a ceiling;

FIG. 6 is a schematic view of an embodiment of a medical device of the present invention, wherein the sliding rail is disposed on the ground;

FIG. 7 is a schematic view of an embodiment of a medical device of the present invention in which the number of robotic arm assemblies is two.

Wherein:

100-a medical device;

110-a medical imaging device;

120-a robot arm assembly;

130-a hospital bed device;

140-a sliding track;

200-ground;

300-ceiling.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the medical device of the present invention is further described in detail by the following embodiments with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1, the present invention provides a medical apparatus 100, wherein the medical apparatus 100 can position a lesion area, so as to perform interventional operation, scanning operation, and the like on the lesion area of a patient, thereby ensuring stability and accuracy of the interventional operation and further ensuring good consistency after operation. Moreover, the medical device 100 of the present invention has a wide application range, and can be applied to various fields such as neurosurgery, general surgery, orthopedics, and plastic surgery. It is understood that interventional procedures include, but are not limited to, interventional procedures, including, but not limited to, for example, punctures, biopsies, ablations, orthopedic procedures, and the like.

In the present embodiment, the medical apparatus 100 includes a medical imaging device 110, a robotic arm assembly 120, and a patient bed device 130. The medical imaging device 110 is used to image a focal region of a patient on a patient bed device 130. The robotic arm assembly 120 may be fixed relative to the medical imaging device 110 or the patient bed device 130. The robotic arm assembly 120 performs interventional procedures based on the imaging of the lesion area. The bed device 130 is used for carrying a patient to be scanned, and the patient can lie on the bed device 130 during scanning and interventional operation. It is understood that the robotic arm assembly 120 may be fixed relative to the medical imaging device 110 only, or relative to the patient bed device 130 only. Of course, in other embodiments of the present invention, the robotic arm assembly 120 may also be fixed relative to both the medical imaging device 110 and the patient bed device 130.

Medical imaging device 110 is used for carrying out the scanning formation of image to the focus region of patient to the specific position in location focus region makes things convenient for robotic arm assembly 120 to carry out the intervention operation, and simultaneously, can also guarantee the accuracy and the stability of intervention operation, and then guarantees the uniformity of postoperative. Illustratively, the medical imaging device 110 includes one or more combinations of Computed Tomography (CT) systems, Magnetic Resonance imaging (MR) systems, Positron Emission Tomography (PET) systems, radiation therapy systems, X-ray imaging systems, single photon emission Computed Tomography (CT) systems, ultrasound imaging systems, and the like. It is understood that the medical imaging device 110 performs imaging before operation, and after the medical imaging device 110 scans the lesion area of the patient, the patient bed structure moves out of the scanning area, and the interventional operation is performed by the robotic arm assembly 120; the imaging can also be performed during the operation, and the mechanical arm assembly 120 directly performs interventional operation in the imaging region and performs real-time guidance through the medical imaging device 110, so that the mechanical arm assembly 120 can accurately intervene, and the safety of the interventional operation is ensured. Moreover, the medical imaging device 110 may be used for CT imaging alone or in combination with an ultrasound imaging system.

Moreover, the medical device 100 further includes an actuator coupled to the other end of the robotic arm assembly 120, the robotic arm assembly 120 configured to actuate the actuator to perform an interventional procedure based on the imaging of the lesion area. The actuator is a main component of the robotic arm assembly 120 for performing the interventional operation, and the robotic arm assembly 120 controls the actuator to perform the interventional operation, and particularly, the actuator can extend into a lesion region of a patient for performing the interventional operation. Illustratively, the actuator is mounted to the end of the robotic arm assembly 120. When the mechanical arm assembly 120 moves, the execution element can be driven to move, so that the execution element can intervene in the lesion position of the patient to perform interventional operation.

Preferably, the medical apparatus 100 further comprises a control workstation that connects the medical imaging device 110 to the robotic arm assembly 120, where the connection may include a wired connection such as a cable or the like and/or a wireless connection such as a communication connection or the like. After the medical imaging device 110 scans the lesion area of the patient, the information of the lesion area of the patient is transmitted to the control workstation, and the control workstation can generate specific operation information of the mechanical arm assembly 120 according to the position of the lesion area of the patient. In an example, in an interventional operation of a puncture operation, specific operation information includes motion path information and needle insertion position information of a puncture point, such as a needle insertion angle, a depth and the like, so that accuracy and stability of the interventional operation are ensured, and good consistency of postoperative effects is further ensured.

Arm assembly 120 is the main control unit of interventionality operation, and arm assembly 120 has better stability, can realize accurate control, can replace the hand drilling and intervene the operation, guarantees stability and the accuracy nature of interventionality operation, and then guarantees that the postoperative uniformity is good. The robot assembly 120 may include multiple series mechanisms and/or multiple parallel mechanisms connected. That is, the robotic arm assembly 120 may include multiple tandem mechanisms that are coupled to effect the interventional procedure. The robotic arm assembly 120 may also include multiple parallel mechanisms connected to effect interventional operations. Of course, the robotic arm assembly 120 may also include at least one series mechanism and at least one parallel mechanism, where the series mechanism cooperates with the parallel mechanism to achieve the interventional operation, where the parallel mechanism is located at an end of the series mechanism. It will be appreciated that the tandem mechanism comprises a plurality of single arms, with rotatable connections between adjacent arms. The parallel mechanism may comprise, for example, a stewart platform.

Further, an actuator is mounted at the end of the robot arm assembly 120, and a plurality of serial mechanisms and/or a plurality of parallel mechanisms drive the actuator to perform an interventional operation. The actuating element includes, but is not limited to, a contact treatment member, a non-contact treatment member, or a detection member, among others. The contact treatment component includes, but is not limited to, an actuating element such as a surgical needle, an ultrasonic probe, or a scalpel. The scalpel herein refers to a scalpel for superficial surgery. Non-contact treatment components include, but are not limited to, radiation sources for radiation therapy, and the like. Detection components include, but are not limited to, ultrasonic probes and the like. In the present embodiment, a surgical needle in which a medical treatment member is a contact treatment member is merely used as an example, and a puncture interventional operation is performed by the surgical needle. Surgical needles include, but are not limited to, biopsy needles, puncture needles, ablation needles, and the like.

The medical equipment 100 disclosed by the invention adopts the mechanical arm assembly 120 to execute drilling and interventional operation, effectively solves the problem of insufficient accuracy and stability caused by manual drilling operation at present, ensures the stability and accuracy of the interventional operation and further ensures good consistency of postoperative effect; meanwhile, the medical imaging device 110 can image the focus area of the patient, after the medical imaging device is matched with the mechanical arm assembly 120, intervention navigation can be performed on the mechanical arm assembly 120, intervention operation can be directly performed after the medical equipment 100 is imaged, operation time is greatly shortened, the problem that the radiation quantity caused by repeatedly shooting the determined focus area is increased can be avoided, and then damage to the body of the patient is avoided.

It will be appreciated that the form of the robotic arm assembly 120 is not limited in principle, as long as interventional procedures are possible, ensuring stability and accuracy. Moreover, the position of the robotic arm assembly 120 is also not limited as long as the robotic arm assembly 120 is enabled to perform interventional procedures on the patient. The respective positions of the robot assembly 120 are explained below.

Referring to FIG. 1, in one embodiment, the robotic arm assembly 120 is removably mounted to the medical imaging device 110. After the medical imaging device 110 images the lesion area of the patient on the patient bed device 130, the robotic arm assembly 120 is directly extended from the medical imaging device 110 for interventional operation. The medical imaging device 110 has a hollow cartridge for imaging, and the patient bed device 130 can enter or exit the hollow cartridge. The robotic arm assembly 120 may be secured to the frame of the medical imaging device 110 at a side thereof adjacent to the patient bed apparatus 130, such that the relative position between the robotic arm assembly 120 and the medical imaging device 110 is fixed, thereby ensuring stability and accuracy of the interventional puncture procedure and reducing the occupied surgical space. Optionally, the robotic arm assembly 120 may be rotatably mounted to the medical imaging device 110, such as a frame, to facilitate the robotic arm assembly 120 to move the actuating element to perform the procedure in different orientations; of course, in other embodiments, the robotic arm assembly 120 may also be disposed on the outer peripheral surface of the hollow cylindrical shell, which also enables interventional procedures, reducing the occupied surgical space.

It can be understood that the robot arm assembly 120 is detachably mounted, and after the use, the robot arm assembly 120 can be detached, so that the occupied space is saved; moreover, when the medical imaging device 110 is used for imaging only, removal of the robotic arm assembly 120 does not interfere with the medical personnel's operational use.

Referring to fig. 2 and 3, in one embodiment, the robotic arm assembly 120 is removably mounted to a floor 200, wall or ceiling 300 such that interventional manipulation of a lesion area by an effector is operable. The operability here means that the installation position of the mechanical arm assembly 120 is not limited as long as the mechanical arm assembly 120 can drive the actuator to perform interventional operation on the lesion area of the patient on the patient bed apparatus 130. Illustratively, the robotic arm assembly 120 may be mounted to a floor 200, wall or ceiling 300 adjacent the medical imaging device 110 or the patient bed device 130, which may facilitate the robotic arm assembly 120 in carrying the actuators to perform the interventional procedure. Specifically, the robotic arm assembly 120 may be mounted to the floor 200 near the medical imaging device 110, such as near a hollow cartridge, for ease of interventional procedures; if there is a lateral wall near the medical imaging device 110, the robotic arm assembly 120 may also be mounted on the wall; of course, the medical imaging device 110 may also be mounted in a suspended manner on the ceiling 300 near the medical imaging device 110, so that interventional procedures may also be performed. When the mechanical arm assembly 120 adopts the above mode, the occupied operation space can be reduced, and the intervention operation is convenient.

Referring to fig. 4, in an embodiment, the bed device 130 is liftable, and the robot arm assembly 120 is mounted on the bed device 130 to follow the bed device 130. It can be understood that, sick bed device 130 can include the basal portion and for the basal portion do elevating movement's lift portion and set up the bed body in lift portion, the bed body bears the patient, lift portion drives the bed body and patient on it does elevating movement, mechanical arm component 120 can set up on the basal portion, when lift portion drives the bed body and does elevating movement, mechanical arm component 120 also can do elevating movement, can conveniently confirm mechanical arm component 120's position like this, and then make things convenient for mechanical arm component 120 to aim at patient's focus region, guarantee the stability and the accuracy of puncture intervenient operation, can also reduce shared operation space simultaneously. Of course, in other embodiments of the present invention, the robot arm assembly 120 may also be disposed on the lifting portion, which also enables the robot arm assembly 120 to drive the actuator to perform the intervention operation.

Referring to fig. 2 and 3, in one embodiment, the robotic arm assembly 120 is removably mounted to a floor 200, wall or ceiling 300 adjacent the bed assembly 130. The robotic arm assembly 120 may be mounted to the floor 200 near the patient bed apparatus 130, for example, at the left and right sides of the patient bed apparatus 130, to facilitate interventional operation; if there is a lateral wall near the bed unit 130, the robotic arm assembly 120 may also be mounted on the wall; of course, the medical imaging device 110 may be mounted on the ceiling 300 near the patient bed device 130 in a suspended manner, so that interventional procedures may be performed. When the mechanical arm assembly 120 adopts the above mode, the occupied operation space can be reduced, and the intervention operation is convenient.

Referring to fig. 5 and 6, in one embodiment, the medical device 100 further comprises a sliding rail 140, and the sliding rail 140 is disposed on a floor 200, a wall, or a ceiling 300. The robot arm assembly 120 is slidably disposed on the slide rail 140. The slide rails 140 can facilitate movement of the robot arm assembly 120, and thus position control of the robot arm assembly 120. When the manipulator assembly 120 is used, the manipulator assembly 120 can slide to a preset position along the sliding rail 140, and then the manipulator assembly 120 is locked, so that the position of the manipulator assembly 120 in the operation process is prevented from moving, and the safety of the operation is ensured. After the procedure is completed, the robotic arm assembly 120 is removed along the slide rail 140 to avoid taking up space. The slide rail 140 may be provided on the floor 200 near the bed unit 130, may be provided on a side wall near the bed unit 130, or may be provided on the ceiling 300 in a suspended manner. The slide rail 140 can increase the coverage space of the robotic arm assembly 120, so that the robotic arm assembly 120 covers a larger area of the patient, and when the robotic arm assembly 120 is not used, the operating field can be moved away, taking up less operating space. Further, the sliding rail 140 is disposed in a long bar shape or an arc shape. In the present embodiment, only the slide rail 140 is described as being U-shaped. The U-shaped sliding rail 140 is arranged around the sickbed device 130, and the mechanical arm assembly 120 can move to any side of the sickbed device 130 along the U-shaped sliding rail 140, so that interventional operation is facilitated; certainly, the U-shaped sliding rail 140 may also be fixed on the ceiling 300 in a suspension manner, the sliding rail 140 is disposed corresponding to the hospital bed device 130, and the mechanical arm assembly 120 may move to any side of the hospital bed device 130 along the U-shaped sliding rail 140, so as to facilitate interventional operation. It will be appreciated that the sliding track may also be of other shapes, for example circular or curved, etc.

Referring to fig. 7, in an embodiment, the number of the mechanical arm assemblies 120 is at least two, and at least two mechanical arm assemblies 120 are located side by side on one side of the patient bed apparatus 130 or separately located on two sides of the patient bed apparatus 130. Through the simultaneous execution operation of a plurality of arm subassemblies 120, can increase coverage area and flexibility ratio, still can the synergism between a plurality of arms simultaneously, save operation time, raise the efficiency. In this embodiment, the number of the mechanical arm assemblies 120 is two, two mechanical arm assemblies 120 are respectively disposed on two sides of the hospital bed device 130, and the two mechanical arm assemblies 120 cooperate to simulate two hands of a medical worker, thereby improving the convenience of an operation.

The technical features of the embodiments described above can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A medical device, comprising:

a patient bed device for carrying a patient to be scanned;

a robotic arm assembly secured at one end to the medical imaging device or the patient bed device; the mechanical arm assembly comprises a plurality of parallel mechanisms, wherein at least one parallel mechanism is a stewart platform; the mechanical arm assembly further comprises a plurality of serial mechanisms, and the plurality of serial mechanisms are connected with the plurality of parallel mechanisms; the mechanical arm assembly is detachably and rotatably arranged on the medical imaging device;

the executive component is connected to the other end of the mechanical arm assembly, and the mechanical arm assembly drives the executive component to execute interventional operation according to the imaging of the lesion area;

the control workstation is used for connecting the medical imaging device and the mechanical arm assembly; after the medical imaging device scans the focus area, the information of the focus area is transmitted to the control workstation, and the control workstation can generate specific operation information of the mechanical arm assembly according to the position of the focus area; and

the sliding track is arranged on the ground, the wall surface or the ceiling, and the mechanical arm assembly is arranged on the sliding track in a sliding mode; the sliding track is in a strip shape or an arc shape.

2. The medical device of claim 1, wherein the number of the mechanical arm assemblies is at least two, and the at least two mechanical arm assemblies are positioned side by side on one side of the sickbed device or are respectively arranged on two sides of the sickbed device.

3. The medical apparatus of claim 1, wherein the medical imaging device comprises a combination of one or more of a computed tomography imaging system, a magnetic resonance imaging system, a positron emission tomography imaging system, a radiation therapy system, an X-ray imaging system, a single photon emission computed tomography imaging system, an ultrasound imaging system.