Mammary gland puncture device capable of controlling focus point

Abstract

The invention discloses a mammary gland puncture device capable of controlling focus points, which belongs to the field of medical instruments, is particularly applied to image-guided mammary gland interventional operations, and comprises a driving gear driving mechanism, a driven gear platform and a mammary gland tissue deformation mechanism, the breast tissue deformation mechanisms are distributed on the driven gear platform in an array mode, breast tissue can be fixed, protruding contacts on the breast tissue deformation mechanisms can stretch out according to needs, the position of a focus point is changed in an extruding and pushing mode, and the breast tissue fixing device can achieve all-directional puncture postures, breast tissue fixing and focus point position changing. A doctor can control the device according to requirements to help the doctor to reduce operation difficulty and improve biopsy precision and efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to a controllable lesion point breast puncture device, belonging to the field of medical instruments, and particularly applied to breast interventional surgery under medical image guidance. BACKGROUND

[0002] Breast cancer is still the most common female malignant tumor disease, and robot technology has made great progress in breast surgery, especially in minimally invasive and precise surgery. Robot technology is increasingly used. Due to the strong flow of breast tissue, minimally invasive intervention is greatly difficult. Researching a controllable lesion point breast puncture device can fix breast tissue and change the lesion point position, help doctors reduce the difficulty of surgery and improve biopsy accuracy. SUMMARY

[0003] In view of the above problems, the technical problem to be solved by the present application is to provide a controllable lesion point breast puncture device.

[0004] The controllable lesion point breast puncture device provided by the present application comprises a driving gear driving mechanism, a driven gear platform and a breast tissue deformation mechanism. The driving gear driving mechanism is fixed on a prone support, a motor is connected with a stepped shaft through a shaft coupling, the stepped shaft is connected with a driving gear through a key, both ends of the stepped shaft are provided with bearings and end covers, and efficient transmission can be realized; the driven gear platform, the puncture support is fixed on the driven gear, the puncture device is fixed on the puncture support, and the puncture support can rotate radially around the breast tissue through the transmission of the motor fixed on the driven gear, and the puncture support can rotate axially around the breast tissue through the transmission of the driving gear; the breast tissue deformation mechanism is arranged on the support plate, the angle between the guide blocks and the operating table can be changed through the transmission of the motor fixed on the support plate, the angle between the guide blocks is changed, so that the breast tissue is fixed, the convex touch in the guide block can be extended through the transmission of the motor fixed on the guide block, so that the breast tissue is deformed and the lesion point position is changed.

[0005] As preferred, the driving gear mechanism comprises a driving motor, a driving motor fixing support, a driving gear fixing support, a shaft coupling, an end cover I, an end cover II, a stepped shaft, a sleeve, a bearing I, a bearing II and a driving gear, the driving motor is fixed on the driving gear fixing support through the driving motor fixing support, the driving gear is fixed on the prone support through the driving gear fixing support, the driving motor is connected with the stepped shaft through the shaft coupling, the stepped shaft is connected with the driving gear through a key, the stepped shaft is provided with the bearing I and the bearing II, the bearing I is fixed on the driving gear fixing support through the sleeve and the end cover I, the bearing II is fixed on the prone support through the shoulder of the stepped shaft and the end cover II, the end cover I and the end cover II are fixed on the driving gear fixing support and the prone support respectively through bolts, and the driving gear is engaged with the driven gear.

[0006] As preferred, the driven gear platform comprises a driven gear, a posture adjusting motor, a posture adjusting motor fixing support, a posture adjusting motor pulley, a puncture support pulley, a puncture support, a T-shaped base, a support shaft, a puncture device and a puncture needle, two T-shaped bases are fixed on the driven gear, the puncture support is connected with the T-shaped base through the support shaft, the puncture device is fixed on the puncture support, the puncture needle can be moved through the lead screw sliding table on the puncture device, the posture adjusting motor is fixed on the driven gear through the posture adjusting motor fixing support, the posture adjusting motor pulley is interference connected on the posture adjusting motor, the puncture support pulley is interference connected on the support shaft, and the posture adjusting motor pulley and the puncture support pulley are connected through a toothed belt.

[0007] As preferred, the breast tissue deformation mechanism comprises a motor I, a motor II, a motor III, a motor support I, a motor support II, a motor support III, a guide block I, a guide block II, a joint shaft I, a joint shaft II, a pulley I, a pulley II, a pulley III, a pulley IV, a lead screw, a convex touch, a lead screw nut, a guide rod and a convex head, the motor III is connected with the motor support III and fixed on a support plate, the motor III is interference connected with the pulley III, the guide block I is connected with the support plate through the joint shaft I, the joint shaft I is interference fitted with the guide block I and clearance fitted with the support plate, the left and right ends of the joint shaft I are interference connected with the pulley IV and the pulley I respectively, the guide block I is connected with the guide block II through the joint shaft II, the joint shaft II is interference fitted with the guide block II and clearance fitted with the guide block I, the right end of the joint shaft II is connected with the pulley II through interference fitting, all the pulleys are connected through a belt, the motor I is fixed on the guide block I through the motor support I, the motor I is connected with the lead screw, the lead screw nut is fixedly connected with the convex touch, and the guide rod and the convex head are arranged on the convex touch.

[0008] The breast tissue deformation mechanism comprises a motor I, a motor II, a motor III, a motor support I, a motor support II, a motor support III, a guide block I, a guide block II, a joint shaft I, a joint shaft II, a pulley I, a pulley II, a pulley III, a pulley IV, a lead screw, a convex touch, a lead screw nut, a guide rod and a convex head, the motor III is connected with the motor support III and fixed on a support plate, the motor III is interference connected with the pulley III, the guide block I is connected with the support plate through the joint shaft I, the joint shaft I is interference fitted with the guide block I and clearance fitted with the support plate, the left and right ends of the joint shaft I are interference connected with the pulley IV and the pulley I respectively, the guide block I is connected with the guide block II through the joint shaft II, the joint shaft II is interference fitted with the guide block II and clearance fitted with the guide block I, the right end of the joint shaft II is connected with the pulley II through interference fitting, all the pulleys are connected through a belt, the motor I is fixed on the guide block I through the motor support I, the motor I is connected with the lead screw, the lead screw nut is fixedly connected with the convex touch, and the guide rod and the convex head are arranged on the convex touch. 1. The driving motor drives the driving gear, and the driving gear is engaged with the driven gear, so that the puncture device fixed on the driven gear can rotate around the breast tissue shaft.

[0009] 2. The puncture bracket is fixed on the driven gear, the posture adjusting motor drives the puncture bracket, the puncture device can swing radially around the breast tissue, the driven gear is engaged with the driving gear, the puncture device is connected with the T-shaped base on the driven gear through the puncture bracket, and the puncture device can rotate around the breast tissue shaft, and full coverage of the puncture angle is formed.

[0010] 3. The breast tissue deformation mechanism can be steplessly adjusted, the diameter ratio of the pitch circle of the pulley I and the pulley II is changed, when the guide block I rotates at a certain angle, the guide block II can rotate at different angles relative to the guide block I, three breast tissue deformation mechanism arrays are arranged on the supporting plate, the breast tissue can be fully fixed, the convex contacts can be stretched out from the guide block, the motor is arranged on each guide block, the motor drives the lead screw, the convex contacts in the guide block are connected with the lead screw nut, the lead screw is rotated to cause the convex contacts to be stretched out from the guide block, the convex contacts are extruded to deform the breast tissue, the position of the lesion point is changed, and the puncture needle reaches the lesion point position along the most ideal path. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to facilitate the description, the application is described in detail by the following specific embodiments and drawings.

[0012] ATTACHMENT Figure 1 It is a structural schematic diagram of the application.

[0013] ATTACHMENT Figure 2 It is a schematic diagram of the driving gear driving mechanism.

[0014] ATTACHMENT Figure 3 It is a structural schematic diagram of the driven gear platform.

[0015] ATTACHMENT Figure 4 It is a structural schematic diagram of the breast tissue deformation mechanism.

[0016] ATTACHMENT Figure 5 It is a schematic diagram of the convex contact.

[0017] ATTACHMENT Figure 6 It is a schematic diagram of the overall assembly.

[0018] In the figure: 1-1 main drive motor, 1-2 main drive motor fixed support, 1-3 coupling, 1-4 end cover I, 1-5 end cover II, 1-6 driving gear fixed frame, 1-7 bearing I, 1-8 bearing II, 1-9 sleeve, 1-10 stepped shaft, 1-11 driving gear, 2-1 driven gear, 2-2 support plate, 2-3 T-shaped base, 2-4 support shaft, 2-5 puncture support, 2-6 attitude adjustment motor, 2-7 attitude adjustment motor fixed frame, 2-8 attitude adjustment motor pulley, 2-9 puncture support pulley, 2-10 puncture device, 2-11 puncture needle, 3-1 guide block I, 3-2 motor I, 3-3 motor support I, 3-4 joint shaft I, 3-5 guide block II, 3-6 motor II, 3-7 motor support II, 3-8 joint shaft II, 3-9 motor III, 3-10 motor support III, 3-11 pulley III, 3-12 pulley IV, 3-13 pulley I, 3-14 pulley II, 3-15 convex touch, 3-15-1 guide rod, 3-15-2 convex touch head, 3-16 lead screw, 3-17 lead screw nut. Embodiment

[0019] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described below by means of specific embodiments shown in the drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present application. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present application.

[0020] As Figures 1-5 shown, the embodiment of the present application adopts the following technical solution: a breast puncture device capable of controlling lesion points, which comprises a driving gear driving mechanism, a driven gear platform, and a breast tissue deformation mechanism, wherein the driving gear driving mechanism is driven by a main drive motor, and power is transmitted from the driving gear to the driven gear through an efficient transmission device, the puncture device is fixed on the driven gear platform and can rotate around the breast tissue shaft, the puncture device is installed on the puncture support and can rotate radially around the breast tissue, the breast tissue deformation mechanism device can change the included angle between the guide block I and the operating table and the included angle of the guide block II according to the rotation angle of the motor III, so as to fix the breast tissue, in addition, the motor I fixed on the guide block I drives the lead screw to move, so that the convex touch extends out and changes the lesion point position by extruding the breast tissue.

[0021] The driving mechanism comprises a driving motor 1-1, a driving motor fixing support 1-2, a shaft coupling 1-3, an end cover I 1-4, an end cover II 1-5, a driving gear fixing frame 1-6, a bearing I 1-7, a bearing II 1-8, a sleeve 1-9, a stepped shaft 1-10, and a driving gear 1-11. The driving gear 1-11 is rotated by the driving motor 1-1 through the shaft coupling 1-3 and is transmitted to the stepped shaft 1-10 and the driving gear 1-11. The driving motor 1-1 is fixed on the driving gear fixing frame 1-6 through the driving motor fixing support 1-2. The driving gear 1-11 is fixed on the prone support 4 through the driving gear fixing frame 1-6. The both ends of the stepped shaft 1-10 are respectively provided with the bearing I 1-7 and the bearing II 1-8. The both ends of the bearing I 1-7 are fixed on the driving gear fixing frame 1-6 through the end cover I 1-4 and the sleeve 1-9. The both ends of the bearing II 1-8 are fixed on the prone support 4 through the shoulder and the end cover II 1-5.

[0022] The driven gear platform comprises a driven gear 2-1, a support plate 2-2, a T-shaped base 2-3, a support shaft 2-4, a puncture support 2-5, a posture adjustment motor 2-6, a posture adjustment motor fixing frame 2-7, a posture adjustment motor pulley 2-8, a puncture support pulley 2-9, a puncture device 2-10, and a puncture needle 2-11. The driven gear 2-1 is engaged with the driving gear 1-11. The driving gear 1-11 is rotated to drive the driven gear 2-1 to rotate, thereby driving the puncture device to rotate axially around the breast tissue. The T-shaped base 2-3 is fixed on the driven gear 2-1. The puncture support 2-5 is connected with the T-shaped base 2-3 through the support shaft 2-4. The puncture device 2-10 is fixed on the puncture support 2-5. The puncture support 2-5 is connected with the support shaft 2-4 in an interference fit. The T-shaped base 2-3 is connected with the support shaft 2-4 in a clearance fit. The support shaft 2-4 is connected with the puncture support pulley 2-9 in an interference fit. The posture adjustment motor 2-6 is connected with the posture adjustment motor pulley 2-8 in an interference fit. The posture adjustment motor 2-6 is fixed on the driven gear 2-1 through the posture adjustment motor fixing frame 2-7. The posture adjustment motor 2-6 provides power. The posture adjustment motor pulley 2-8 and the puncture support pulley 2-9 are connected through a toothed belt to transmit power to the puncture support 2-5, thereby driving the puncture device to rotate radially around the breast tissue.

[0023] The breast tissue deformation mechanism, including support plate 2-2, guide block I 3-1, motor I 3-2, motor support I 3-3, joint shaft I 3-4, guide block II 3-5, motor II 3-6, motor support II 3-7, joint shaft II 3-8, motor III 3-9, motor support III 3-10, pulley III 3-11, pulley IV 3-12, pulley I 3-13, pulley II 3-14, convex contact 3-15, guide rod 3-15-1, convex contact head 3-15-2, lead screw 3-16, lead screw nut 3-17, motor III 3-9 is fixed on the support plate 2-2 through motor III support 3-10, motor III 3-9 is installed pulley III 3-11, pulley III 3-11 and pulley IV 3-12 are connected through the toothed belt, pulley IV 3-12 and joint shaft I 3-4 are connected by interference, joint shaft I 3-4 and guide block I 3-1 are connected by interference, joint shaft I 3-4 and support plate 2-2 are connected by clearance, motor III rotates pulley III 3-11, pulley IV 3-12, joint shaft I 3-4, guide block I 3-1, guide block I 3-1 and the operating table form an angle, the other end of joint shaft I 3-4 and pulley I 3-13 are connected by interference, guide block I 3-1 and guide block II 3-5 are connected through joint shaft II 3-8, guide block II 3-5 and joint shaft II 3-8 are connected by interference, guide block I 3-1 and joint shaft II 3-8 are connected by clearance, one end of joint shaft II 3-8 and pulley II 3-14 are connected by interference, pulley I 3-13 and pulley II 3-14 are connected through the toothed belt, joint shaft I 3-4 drives pulley I 3-13, pulley II 3-14, joint shaft II 3-8 and guide block II 3-5 to rotate, guide block II 3-5 and guide block I 3-1 form an angle, the angle between guide block I 3-1 and the horizontal plane is determined by the rotation angle of motor III 3-9, the angle between guide block II 3-5 and the horizontal plane is determined by the rotation angle of motor III 3-9 and the ratio of the pitch circle diameter of pulley I 3-13 and pulley II 3-14, the relative angle between guide block I 3-1 and guide block II 3-5 is determined by the ratio of the pitch circle diameter of pulley I 3-13 and pulley II 3-14, according to the size of breast tissue, the rotation angle of motor III 3-9 and the ratio of the pitch circle diameter of pulley I 3-13 and pulley II 3-14 are adjusted to fix the breast tissue, in addition, motor I 3-2 is fixed on guide block I 3-1 through motor support I 3-3, motor I 3-2 is connected with lead screw 3-16, lead screw nut 3-17 is connected with convex contact 3-15, guide rod 3-15-1 is provided on convex contact 3-15 to make convex contact 3-15 only do reciprocating motion, convex contact head 3-15-2 is designed as a hemisphere to not harm breast tissue, motor I 3-2 drives lead screw 3-16 to rotate, and drives lead screw nut 3-17 to move linearly,Thus, the convex contact 3-15 is driven to make linear motion to extrude the breast tissue to change the lesion point position.

[0024] The working principle of the embodiment is as follows: The breast puncture device according to claim 1 is installed at the bottom of the prone support 4, which is arranged beside the medical image device. When detection is performed, the patient lies on the prone support 4, and the breast tissue naturally falls into the opening on the prone support 4. At this time, the device is in the initial state. The three breast tissue deformation mechanisms are arranged in a 120° array around the breast tissue of the patient. When the driving motor 1-1 is not rotated, the plane where the puncture support 2-5 is located is parallel to the long side of the operating table. When the posture adjustment motor 2-6 is not rotated, the included angle between the puncture support and the operating table is 90°. When the motor III 3-9 is not rotated, the included angle between the guide block I 3-1 and the guide block II 3-5 and the operating table is 90°. When the motor I 3-2 is not rotated, the convex contact 3-15 is completely retracted in the guide block I 3-1, and the distance between the end surface of the convex contact head 3-15-2 and the guide block I 3-1 is zero.

[0025] In example one, the number and position of the lesion points in the breast tissue of the patient are determined by the medical image device during surgery, and the puncture biopsy track and the motion parameters of the device are planned by the computer. Subsequently, the driving motor 1-1 is rotated to drive the step shaft 1-10, the driving gear 1-11 and the driven gear platform 2-1 to rotate, the posture adjustment motor 2-6 is rotated to drive the puncture support 2-5 and the puncture device 2-10 to deflect, so that the puncture needle 2-11 punctures at the position closest to the lesion point. Subsequently, the motor III 3-9 is rotated to drive the guide block I 3-1 and the guide block II 3-5 to rotate until the breast tissue deformation mechanism is attached to the breast tissue. Since the shapes and sizes of the breast tissues of different patients are different, if the joint end cannot completely attach to the breast tissue, the convex contact 3-15 can be extended to attach to the breast tissue.

[0026] In example two, in example one, if the position of the lesion point needs to be changed, one or more convex contacts in the breast tissue deformation mechanism around the breast tissue can be extended to extrude the breast tissue to offset the position of the lesion point, so that the lesion point reaches the ideal position. Due to the breathing or movement of the patient, the lesion point can also deviate from the original designed line. The convex contact in the breast tissue deformation mechanism can also be controlled by the computer to extend or retract to complete the displacement compensation of the lesion point.

[0027] The above shows and describes the basic principles and main features of the present application and the advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A breast puncture device for controllable lesion sites according to the present invention, comprising an active gear drive mechanism (1), a driven gear platform (2), a breast tissue deformation device (3), and a prone support (4), characterized in that: The driving mechanism (1) comprises a driving motor (1-1), a driving motor fixing support (1-2), a shaft coupling (1-3), an end cover I (1-4), an end cover II (1-5), a driving gear fixing frame (1-6), a bearing I (1-7), a bearing II (1-8), a sleeve (1-9), a stepped shaft (1-10), and a driving gear (1-11). The driving mechanism (1) is rotatably connected to the prone support (4) through the bearing II (1-8). The driving motor (1-1) is fixed on the driving gear fixing frame (1-6) by the driving motor fixing support (1-2). The driving gear (1-11) is fixed on the driving gear fixing frame (1-6). The driving motor (1-1) is connected to the stepped shaft (1-10) through the shaft coupling (1-3). The stepped shaft (1-10) is fixed with the bearing I (1-7) and the bearing II (1-8). The bearing I (1-7) is fixed at both ends by the end cover I (1-4) and the sleeve (1-9). The bearing II (1-8) is fixed at both ends by the end cover II (1-5) and the shoulder of the stepped shaft (1-10). The stepped shaft (1-10) is connected to the driving gear (1-11) through a key. The driven gear platform (2) comprises a driven gear (2-1), a support plate (2-2), a T-shaped base (2-3), a support shaft (2-4), a puncture support (2-5), a posture adjustment motor (2-6), a posture adjustment motor fixing frame (2-7), a posture adjustment motor pulley (2-8), a puncture support pulley (2-9), a puncture device (2-10), and a puncture needle (2-11). The driven gear platform (2) is connected to the prone support (4) through the support plate (2-2) thereon. The support plate (2-2) is fixedly connected to the prone support (4). The axial section of the support plate (2-2) is T-shaped. The driven gear (2-1) rotates around the support plate (2-2). The driven gear (2-1) is engaged with the driving gear (1-11). Two T-shaped bases (2-3) are symmetrically fixed on the driven gear (2-1). The puncture support (2-5) is connected to the T-shaped base (2-3) through the support shaft (2-4). The posture adjustment motor (2-6) is fixed on the driven gear (2-1) through the posture adjustment motor fixing frame (2-7). The posture adjustment motor (2-6) and the posture adjustment motor pulley (2-8) are interference-connected. The support shaft (2-4) and the puncture support pulley (2-9) are interference-connected. The posture adjustment motor pulley (2-8) and the puncture support pulley (2-9) are connected through a toothed belt. The puncture device (2-10) is fixed on the puncture support (2-5). The puncture device (2-10) is provided with the puncture needle (2-11).

2. The breast biopsy device of claim 1, wherein: The breast tissue deformation mechanism (3) comprises a guide block I (3-1), a motor I (3-2), a motor support I (3-3), a joint shaft I (3-4), a guide block II (3-5), a motor II (3-6), a motor support II (3-7), a joint shaft II (3-8), a motor III (3-9), a motor support III (3-10), a pulley III (3-11), a pulley IV (3-12), a pulley I (3-13), a pulley II (3-14), a convex touch (3-15), a lead screw (3-16), and a lead screw nut (3-17). The motor III (3-9) is fixed on the motor III support (3-10), the motor III support (3-10) is fixed on the support plate (2-2), the motor III (3-9) is provided with the pulley III (3-11), the pulley III (3-11) is connected with the pulley IV (3-12) through a toothed belt, the pulley IV (3-12) is connected with the joint shaft I (3-4) in an interference fit, the joint shaft I (3-4) is connected with the guide block I (3-1) in an interference fit, the joint shaft I (3-4) is connected with the support plate (2-2) in a clearance fit, the other end of the joint shaft I (3-4) is connected with the pulley I (3-13) in an interference fit, the guide block I (3-1) is connected with the guide block II (3-5) through the joint shaft II (3-8), the guide block II (3-5) is connected with the joint shaft II (3-8) in an interference fit, the guide block I (3-1) is connected with the joint shaft II (3-8) in a clearance fit, one end of the joint shaft II (3-8) is connected with the pulley II (3-14) in an interference fit, the pulley I (3-13) is connected with the pulley II (3-14) through a toothed belt. Meanwhile, the motor I (3-2) is fixed on the motor support I (3-3), the motor support I (3-3) is fixedly connected to the guide block I (3-1), the motor I (3-2) is connected with the lead screw (3-16), the lead screw nut (3-17) is fixedly connected with the convex touch (3-15), the convex touch (3-15) is provided with a guide rod (3-15-1) and a convex touch head (3-15-2), the motor I (3-2) rotates, and drives the convex touch (3-15) to move linearly in the guide block I (3-2) through the lead screw (3-16) and the lead screw nut (3-17).

3. A breast biopsy device according to claim 1 and claim 2, wherein: The application can realize fixation of breast tissues of different patients and control of lesion point positions, when puncture of the patient is needed, control of the puncture needle to reach an ideal puncture posture, rotation of the main drive motor (1-1) to drive the coupling (1-3), the stepped shaft (1-10), the driving gear (1-11) and the driven gear platform (2) to rotate, so that the driven gear platform (2) can rotate axially around the breast tissue, the posture adjusting motor (2-6) drives the puncture support (2-5) and the puncture device (2-10) to swing, so that the puncture device (2-10) can swing radially around the breast tissue, and an ideal puncture posture is reached, when the breast tissue of the patient needs to be fixed, the motor III (3-9) drives the guide block I (3-1) and the guide block II (3-5) to rotate until the breast tissue deformation mechanism (3) is attached to the breast tissue, if the lesion point position needs to be changed, the motor I (3-2) and the motor II (3-6) are controlled to rotate, so that the convex touch (3-15) is extended to extrude the breast tissue and make the lesion point position deviate, so that the lesion point reaches an ideal position or displacement compensation of the lesion point is realized.

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