Manipulator puncture system for percutaneous renal operation

Abstract

The invention relates to a manipulator puncture system for a percutaneous renal operation. The system comprises a manipulator puncture frame, a C arm X ray apparatus with a laser pointer and computer-controlled remote control equipment, wherein the manipulator puncture frame is provided with two movable joints and a propeller; the top of a main column of the manipulator puncture frame is connected with a needle holding plate through a movable joint 1; when the main column is fixed beside an operating bed, the needle holding plate is perpendicular to the operating bed through the movable joint1; when puncture is ready, the needle holding plate is required to be placed at a certain angle and locked through manual adjustment and control; the bottom of the main column is connected with a bottom frame through a movable joint 2 which is controlled by a servo motor; the needle holding plate swings backward and forward at the angle of between 0 and 5 degrees centered on the needle holding plate swinging at a certain angle by using the movable joint 2; and the main column is provided with the propeller which is controlled by the servo motor, and the maximum propelling space is 20cm and the speed is 8 meter / minute. An operator can completely avoid X ray exposure and accurately insert a puncture needle into a collection system through a fornix part of kidney in real time.

Description

technical field [0001] The invention belongs to the technical field of medical equipment, and relates to a manipulator puncture system for percutaneous kidney surgery for real-time and accurate puncture through a remote control manipulator and C-arm X-ray exposure. Background technique [0002] Percutaneous renal surgery is still an important method of endourology, and it is also the most difficult and complicated operation. In percutaneous renal surgery, the puncture method is the key to the operation. At present, the most commonly used puncture guidance is C-arm X-ray fluoroscopy, and when puncturing under C-arm X-ray fluoroscopy, the operator often needs to accept more radiation exposure, which is the biggest stumbling block hindering the widespread promotion of percutaneous renal surgery . [0003] In order to reduce the direct exposure of body parts to X-rays, urologists have designed many methods. For example, there are many methods for percutaneous renal puncture u...

AI Technical Summary

Problems solved by technology

[0003] In order to reduce the direct exposure of body parts to X-rays, urologists have designed many methods, such as percutaneous renal puncture under C-arm X-ray fluoroscopy There are many methods. The bulleye technique is the most popular method in Europe and the United States. The accuracy of the puncture is quite high, but the direct exposure of the hands and body is the greatest. Now most of the domestic use the triangular European stock method for indirect exposure puncture. However, the accuracy of puncture is low, and it is often necessary to puncture multiple needles to succeed

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