CN2796665Y - Beam type digital controlled stereo location instrument - Google Patents
Beam type digital controlled stereo location instrument Download PDFInfo
- Publication number
- CN2796665Y CN2796665Y CNU2005200229445U CN200520022944U CN2796665Y CN 2796665 Y CN2796665 Y CN 2796665Y CN U2005200229445 U CNU2005200229445 U CN U2005200229445U CN 200520022944 U CN200520022944 U CN 200520022944U CN 2796665 Y CN2796665 Y CN 2796665Y
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- laser pen
- guiding
- cloud terrace
- slide rail
- beam type
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- 238000003745 diagnosis Methods 0.000 abstract description 2
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- 238000003325 tomography Methods 0.000 description 5
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- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000003252 repetitive effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
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- 208000014674 injury Diseases 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
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- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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Abstract
The utility model relates to a beam type digital controlled stereo positioning instrument. The utility model is composed of a horizontal direction straight line driving structure, a vertical direction straight line driving structure, a beam turnover mechanism, an angular displacement sensor, a guiding cradle head rotary mechanism, a guiding cradle head pitching mechanism, an inclination angle sensor, a line projection laser pen elastic locking mechanism, a spot projection laser pen elastic locking mechanism, an electric cabinet, a PC digital control system and a reference plate. Under the state of disengaging from CT real-time monitoring, the fault direction and fault angle of a CT can be accurately recovered, and the fault video spatial position can be accurately repeated. The utility model is important auxiliary equipment for intervention diagnosis and tumor radiotherapy and chemotherapy minimally invasive surgery.
Description
Technical field:
This utility model relates to a kind of tomoscan image information according to CT, under the real-time monitor state that breaks away from CT, fault trend and the tomography angle of accurate reduction CT, the accurate described locus of repetitive faulting image, realizing high accuracy, multiple spot position, beam type digital control stereotaxic instrument repeatably, is that the doctor carries out intervention diagnosis and tumor is put, the important auxiliary facilities of chemotherapy Minimally Invasive Surgery.
Background technology:
Minimally Invasive Surgery is that the end of the eighties in last century is by a Charles Robert Richet utility model.Import China's more than two decades into, painful few because this technology makes patient's wound little, recover fast, therefore obtained develop rapidly in China.Be accompanied by the development of Minimally Invasive Surgery, this new technique of three-dimensional location is also being updated and is being innovated.Along with the extensive use of computerized tomography X line shooting art (CT), for brand-new field and wide prospect have been opened up in the application of traditional stereotaxic technique.
The present stereotaxic apparatus tool of using, be to adopt tower structure mostly, positioning principle adopts rectangular coordinate, spherical coordinates, graphometer measurement etc. respectively, structure is complicated, artificial calculating, and it is unavoidable to produce position error, and for little target spot, position error just means and injures its hetero-organization, or even important organ, nerve, blood vessel etc., produces serious adverse consequences.Though also have some three-dimensional positioning equipments to use electric elements and computer control, but because of it must be operated under the real-time monitoring of CT, the patient is subjected to X-ray injury for a long time, doctors and patients intercept, go wrong in the operation and can not in time find, and influenced by device structure, once the interventional therapy of multiple spot position among a small circle influences therapeutic effect.
The utility model content:
The purpose of this utility model is: propose a kind of novel, tomoscan image information according to CT, under the real-time monitor state that breaks away from CT, fault trend and the tomography angle of accurate reduction CT, the accurate described locus of repetitive faulting image, realize high accuracy, multiple spot position, stereotaxic instrument repeatably, overcome the defective of said system, concrete structure is as follows:
By horizontal direction straight line drive mechanism, vertical direction straight line drive mechanism, the beam switching mechanism, angular displacement sensor, guiding The Cloud Terrace rotating mechanism, guiding The Cloud Terrace luffing mechanism, the obliquity sensor device, line projection's laser pen elasticity retaining mechanism, spot projection laser pen elasticity retaining mechanism, laser pen, electric cabinet, the PC digital control system, datum plate constitutes, horizontal direction straight line drive mechanism is made of the beam type linear slide rail of a horizontal direction and the driving leading screw of doing horizontal slip on the beam type linear slide rail, driving leading screw is connected with a motor, motor is positioned at the top of beam type linear slide rail, vertical direction straight line drive mechanism is by the linear slide rail of a vertical direction, constitute with the driving leading screw that on linear slide rail, slides up and down, drive and be connected with motor after leading screw is connected with angular displacement sensor, motor is connected with guiding The Cloud Terrace luffing mechanism again, the guiding The Cloud Terrace is connected with guiding The Cloud Terrace luffing mechanism, obliquity sensor is positioned at guiding The Cloud Terrace top, line projection's laser pen elasticity retaining mechanism, spot projection laser pen elasticity retaining mechanism is positioned at guiding The Cloud Terrace below, spot projection laser pen and line projection's laser pen are fixed on the retaining mechanism, motor is connected with the PC digital control system by electric cabinet, and the beam switching mechanism is positioned at the other end or the stiff end of beam type linear slide rail, by worm gear, worm screw is connected the beam type linear slide rail with motor, datum plate is positioned at the below of spot projection laser pen and line projection's laser pen, and datum plate is a horizontal plate that is printed on the mutually perpendicular coordinate line of any bar or pastes graph paper.
The vertical step motor drive leading screw of beam type linear slide rail drives vertical direction straight line drive mechanism and do horizontal slip on the beam type linear slide rail, cooperates moving of CT edge of bed Y direction, makes the spot projection laser pen point to body surface and goes into pin mark; The step motor drive vertical drive leading screw that is connected with guiding The Cloud Terrace luffing mechanism moves up and down along the vertical linearity slide rail, adjusts the height of guiding The Cloud Terrace and body surface; Be positioned at step motor drive worm gear, the worm screw of the other end or the stiff end of beam type linear slide rail, drive the beam type linear slide rail,, make the guiding The Cloud Terrace around X-axis maintenance level according to obliquity sensor feedback numerical value around X-axis fine motion upset; Motor drives the guiding The Cloud Terrace around the rotation of Z axle by link, finishes the fault trend of reduction CT and the rotation of ∠ A according to angular displacement sensor feedback numerical value; Motor drives the The Cloud Terrace that leads around the Y-axis pitching by link, according to obliquity sensor feedback numerical value, makes the guiding The Cloud Terrace around Y-axis maintenance level and the pitching of finishing ∠ B; Except that the motion of CT bed, above-mentioned mechanical movement is by electric cabinet, and the control of PC digital control system is finished.
The technical method that the beam type digital control stereotactic system can be independent of the fault trend of CT use and accurate reduction CT is because datum plate is a horizontal plate that is printed on mutually perpendicular coordinate line of any bar or stickup graph paper, datum plate is placed on the CT bed surface, manually the CT bed enters CT gantry, adjust datum plate and make or the coincidence parallel of its coordinate line with the pendulum bit line of CT machine, and keep its adjusted state, manually the CT bed withdraws from CT gantry; By the rotation of PC digital control system control guiding The Cloud Terrace, treat that the projection line of line projection's laser pen is parallel with the coordinate line of datum plate or when overlapping, the PC digital control system writes down the feedback numerical value of angular displacement sensor, the reference direction that shows the The Cloud Terrace that leads is exactly the fault trend of CT.
The program agreement is promptly gone into pin mark to the path of target spot and the angle ∠ α value of Z axle along body surface in the directions X CT fault image, is called the needle angle value, angle ∠ β value along Y direction and Z axle, be called the tomography angle value of CT, angle has positive and negative branch, the branch of pendulum position about machine has.The PC digital control system calculates anglec of rotation ∠ A and luffing angle ∠ B according to ∠ α, ∠ β value.Send instruction and finish following control: according to the measured value of angular displacement sensor by electric cabinet, control guiding The Cloud Terrace rotating mechanism is finished anglec of rotation ∠ A, according to the measured value of guiding The Cloud Terrace obliquity sensor, control beam switching mechanism, guiding The Cloud Terrace luffing mechanism make the guiding The Cloud Terrace be in level; According to the measured value of obliquity sensor, control guiding The Cloud Terrace luffing mechanism is finished luffing angle ∠ B, and finish the space angle location, and the spot projection path of spot projection laser pen is the two dimension angular of ∠ α, ∠ β.
This utility model
1., breaking away under the real-time monitor state of CT, accurately reduce fault trend and the tomography angle of CT.
2., adopt girder structure, both can be lifted under the ceiling of CT bed top, again can cantilevered be installed on foot wheel movably on the pedestal, depositing after easy to use.
3., because the two dimension angular of ∠ α, ∠ β is finished is to calculate by program, be converted into rotation ∠ A, pitching ∠ B and realize that therefore, whole system is rational in infrastructure, stable, guiding The Cloud Terrace compactness, light and handy is for the doctor has reserved the operation technique space.
4., utilize the Y direction motion of CT bed, realize that the three-dimensional of system is sought the function that body surface is gone into pin mark, simplified the structure of system, reduce production costs.
5., adopted close-loop control mode, levelness and the realization of ∠ A, the ∠ B influence that all is not subjected to production technology and external environment condition in any direction of guiding The Cloud Terrace realized high accuracy, multiple spot position, three-dimensional location repeatably.
6., guarantee that the guiding The Cloud Terrace is in level, the projection line of laser, point must be vertically greatly, for reaching this purpose, the laser pen mounting means is the snap lock locking structure, both vertically elasticity is adjustable greatly, laser pen is locked, guaranteed location path accurately.
Description of drawings
Fig. 1 beam type digital control stereotaxic instrument structural representation
Fig. 2 reduces the datum plate structural representation of fault trend of CT
Wherein:
1, directions X straight line drive mechanism 1.1, motor 1.2, driving leading screw 1.3, linear slide rail; 2, Z direction straight-line transmitting moving cell 2.1, driving leading screw 2.2, linear slide rail; 3, beam switching mechanism; 4, angular displacement sensor; 5, guiding The Cloud Terrace rotating mechanism 5.1, motor; 6, guiding The Cloud Terrace luffing mechanism 7, obliquity sensor 8, line projection's laser pen elasticity retaining mechanism 8.1, laser pen line projection of line projection laser pen; 9, spot projection laser pen elasticity retaining mechanism 9.1, spot projection laser pen; 10, electric cabinet 11, PC digital control system 12, datum plate.
The specific embodiment:
Embodiment 1
1 adopt girder structure as follows with reference to the accompanying drawings:
Horizontal direction straight line drive mechanism (1) is made of the beam type linear slide rail (1.3) of a horizontal direction and the driving leading screw (1.2) of doing horizontal slip on the beam type linear slide rail, the beam type linear slide rail is fixed on (B), driving leading screw is connected with a motor (1.1), motor is positioned at the top of beam type linear slide rail, vertical direction straight line drive mechanism (2) is by the linear slide rail (2.2) of a vertical direction, constitute with the driving leading screw (2.1) that on linear slide rail, slides up and down, the driving leading screw is connected the back and is connected with the motor (5.1) of guiding The Cloud Terrace rotating mechanism (5) with angular displacement sensor (4), motor (5.1) is connected with guiding The Cloud Terrace luffing mechanism (6) again, the guiding The Cloud Terrace is connected with guiding The Cloud Terrace luffing mechanism, obliquity sensor (7) is positioned at guiding The Cloud Terrace top, line projection's laser pen elasticity retaining mechanism (8), spot projection laser pen elasticity retaining mechanism (9) is positioned at guiding The Cloud Terrace below, spot projection laser pen (9.1) and line projection's laser pen (8.1) are fixed on the retaining mechanism, motor is connected with PC digital control system (11) by electric cabinet (10), beam switching mechanism (3) is positioned at the other end or the stiff end of beam type linear slide rail, by worm gear, worm screw is connected the beam type linear slide rail with motor, datum plate (12) is positioned at the below of spot projection laser pen and line projection's laser pen, and datum plate is a horizontal plate that is printed on the mutually perpendicular coordinate line of any bar or pastes graph paper.
Embodiment 2
1 adopt cantilevered with reference to the accompanying drawings, beam type linear slide rail (1.3) band beam switching mechanism (3) one ends are installed on foot wheel movably on the pedestal (A).All the other structures are with embodiment 1.
Claims (1)
1. beam type digital control stereotaxic instrument, be by horizontal direction straight line drive mechanism, vertical direction straight line drive mechanism, the beam switching mechanism, angular displacement sensor, guiding The Cloud Terrace rotating mechanism, guiding The Cloud Terrace luffing mechanism, obliquity sensor, line projection's laser pen elasticity retaining mechanism, spot projection laser pen elasticity retaining mechanism, laser pen, electric cabinet, the PC digital control system, datum plate constitutes, it is characterized in that: horizontal direction straight line drive mechanism is made of the beam type linear slide rail of a horizontal direction and the driving leading screw of doing horizontal slip on the beam type linear slide rail, driving leading screw is connected with a motor, motor is positioned at the top of beam type linear slide rail, vertical direction straight line drive mechanism is by the linear slide rail of a vertical direction, with on linear slide rail, make the driving leading screw that slides up and down and constitute, drive and be connected with motor after leading screw is connected with angular displacement sensor, motor is connected with guiding The Cloud Terrace luffing mechanism again, the guiding The Cloud Terrace is connected with guiding The Cloud Terrace luffing mechanism, obliquity sensor is positioned at guiding The Cloud Terrace top, line projection's laser pen elasticity retaining mechanism, spot projection laser pen elasticity retaining mechanism is positioned at guiding The Cloud Terrace below, spot projection laser pen and line projection's laser pen are fixed on the retaining mechanism, motor is connected with the PC digital control system by electric cabinet, the beam switching mechanism is positioned at the other end or the stiff end of beam type linear slide rail, by worm gear, worm screw is connected the beam type linear slide rail with motor, datum plate is positioned at the below of spot projection laser pen and line projection's laser pen, and datum plate is a horizontal plate that is printed on the mutually perpendicular coordinate line of any bar or pastes graph paper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2005200229445U CN2796665Y (en) | 2005-04-29 | 2005-04-29 | Beam type digital controlled stereo location instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2005200229445U CN2796665Y (en) | 2005-04-29 | 2005-04-29 | Beam type digital controlled stereo location instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2796665Y true CN2796665Y (en) | 2006-07-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2005200229445U Expired - Fee Related CN2796665Y (en) | 2005-04-29 | 2005-04-29 | Beam type digital controlled stereo location instrument |
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| Country | Link |
|---|---|
| CN (1) | CN2796665Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104048608A (en) * | 2013-03-11 | 2014-09-17 | 中国原子能科学研究院 | Device for measuring thermal displacement of pipeline |
-
2005
- 2005-04-29 CN CNU2005200229445U patent/CN2796665Y/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104048608A (en) * | 2013-03-11 | 2014-09-17 | 中国原子能科学研究院 | Device for measuring thermal displacement of pipeline |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: BEIJING YIHENG TONGJI TECHNOLOGY CO., LTD. Free format text: FORMER OWNER: QIAO ENZHEN Effective date: 20101224 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 100052 NO.2-5-203, HEIYAOCHANG XILI, XUANWU DISTRICT, BEIJING TO: 100050 NO.19 (WEST GATE, TAORANTING PARK), TAIPING STREET, XUANWU DISTRICT, BEIJING |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20101224 Address after: 100050 No. 19 Taiping Street, Xuanwu District, Beijing (west gate of Taoranting Park Park) Patentee after: Beijing easy base Technology Co., Ltd. Address before: 100052 Beijing city Xuanwu District black West No. 2-5-203 Patentee before: Qiao Enzhen |
|
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20060719 Termination date: 20140429 |