Remote-control puncturing and positioning system under C arm machine introduction

Abstract

The invention provides a remote-control puncturing and positioning system under C arm machine introduction, which relates to the technical field of medical appliances. The remote-control puncturing and positioning system comprises a bracket part, two bent-arm rotating parts, a puncture needle positioning part, a driver and a processing controller, wherein both ends of the first bent-arm rotating part are respectively and rotatably connected with the bracket part and one end of the second bent-arm rotating part, the other end of the second bent-arm rotating part is rotatably connected with the puncture needle positioning part, the input end of the driver is connected with the processing controller and is used for receiving a control command, and two output ends of the driver are respectively connected with the first bent-arm rotating part and the second bent-arm rotating part and are used for driving the two bent-arm rotating parts to realize three-dimensional positioning. The invention has the functions of simple structure, positioning accuracy, remote control, three-dimensional free positioning, simple operation method, and the like.

Description

technical field [0001] The invention relates to a device in the technical field of medical devices, in particular to a remote control puncture positioning system guided by a C-arm machine. Background technique [0002] Puncture surgery is a kind of minimally invasive surgery. The development of puncture technology in recent years has rapidly improved the level of treatment in certain professional fields, such as percutaneous liver, gallbladder, and kidney puncture, which have been widely used in clinical practice. Puncture positioning has a great influence on the whole puncture operation. Accurate positioning can reduce operation time, improve operation success rate and reduce complications. CT-guided puncture surgery requires multiple CT scan reconstructions during the operation to determine whether the positioning is accurate, resulting in long operation time and many puncture times. In the puncture surgery guided by the C-arm machine, the doctor wears protective clothing...

AI Technical Summary

Problems solved by technology

CT-guided puncture surgery requires multiple CT scan reconstructions to determine whether the positioning is accurate, resulting in long operation time and many puncture times.

In the puncture surgery guided by the C-arm machine, the doctor wears protective clothing to perform the operation, but cannot completely avoid X-ray radiation. During the operation, the doctor needs to watch the X-ray images many times. Long-term operation will cause great harm to the doctor’s body.

Ultrasound-guided puncture surgery, although ultrasound can be displayed in real time, the clarity and accuracy of ultrasound images are not as good as C-arm machines and CT, and the image integrity is poor, requiring the operator to have good operating experience, and the rate of residual stones is high

The C-arm machine provides a planar image, which only transmits in one direction, and cannot accurately provide the position information of the target point. Multi-angle real-time transmission can indirectly infer the three-dimensional space position of the target point. At present, there are few researches on puncture positioning under the guidance of the C-arm machine. , but CT equipment is expensive and difficult to popularize, and the operating space is limited, so C-arm machine puncture positioning is a trend

[0003] According to the literature search of current technology, Xiong Jing, Chen Ken, Yang Xiangdong, Liu Shaoli, Feng Tao, Liang Ping. Research and clinical application of THMR-I robot system for interventional therapy. High Technology Communication, 2009, 19(12) : 1281-1287, Tsinghua University's THMR-I interventional therapy robot is a B-mode ultrasound-guided puncture positioning device: the system is complex and bulky, which is not conducive to popularization; B-mode ultrasound medical images are not as clear as X-ray images , the feedback error is large; the positioning error is relatively large, suitable for large cysts of 5cm to 8cm, not suitable for puncture positioning of small lesions

[0004] A further search found that Chinese Patent Document No. CN201048965Y, published on April 23, 2008, describes a percutaneous renal puncture dilation device with an indicator, which includes a direction angle indicator, a puncture needle or a fascial dilator: The puncture positioning operation is carried out in a two-dimensional plane, without breaking through the limitation that the positioning accuracy rate of the two-dimensional plane is lower than that in the three-dimensional space; the puncture instrument needs to be accurately controlled by human hands, and the manual operation is unstable, and accurate grasping for a long time will bring fatigue to the doctor. Affect the quality of the operation; the operation method is complicated and the steps are cumbersome

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