Percutaneous operation intervention equipment based on four-axis inner double-point dynamic constraint

Abstract

The utility model discloses percutaneous operation intervention equipment based on four-axis inner double-point dynamic constraint, which comprises a base, four groups of connecting arms and an adjusting table, the connecting arms are uniformly distributed between the base and the adjusting table, two ends of each connecting arm are respectively in spherical hinge connection with the base and the adjusting table, the base is provided with a positioning piece, and the positioning piece is arranged on the adjusting table. The center position of the adjusting table and the positioning piece are both connected with ball joints, and intervention tools are arranged on the two ball joints in a penetrating mode. The method has the advantages of avoiding the deviation of an intervention tool and improving the stability and accuracy of intervention operation.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, in particular to a percutaneous surgical intervention device based on four-axis inner double-point dynamic constraint. Background Art

[0002] Percutaneous surgery, also known as minimally invasive surgery, is a broad medical term that refers to procedures performed through small or no incisions. These procedures aim to minimize trauma to the body, speed recovery, and reduce pain and complications.

[0003] Percutaneous interventional robotic devices are advanced medical devices that combine robotics and interventional surgery techniques. Existing interventional tool adjustment mechanisms, such as those described in Chinese patent application CN107007353A: A system and method for aligning a slender tool with an occluded target, comprise a base, multiple sets of arms, and a lifting platform. Each set of arms connects the base and the lifting platform, with a ball joint positioned at the center of the lifting platform. The interventional tool slides along the hole in the ball joint, allowing it to be inserted into the patient's body. This helps doctors perform complex interventional procedures, improving surgical precision and safety.

[0004] The existing technology has the following defects: the adjustment mechanism of the above-mentioned interventional tool is usually arranged in three groups of arms. Since the three groups of robotic arms have a relatively small number of support points, the stability of the equipment may be lower during certain surgical actions. In addition, during the insertion of the interventional tool, only one group of ball joints is used as the control point, which can easily lead to deviations in the fine-tuning calibration accuracy of the interventional tool, affecting the stability and accuracy of the interventional operation. Utility Model Content

[0005] The technical problem to be solved by the utility model is to overcome the deficiencies of the existing technology and provide a percutaneous surgical intervention device based on four-axis internal double-point dynamic constraint, which can avoid deviation of intervention tools and improve the stability and accuracy of intervention operations.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] A percutaneous surgical intervention device based on four-axis internal double-point dynamic constraint includes a base, four sets of connecting arms and an adjustment platform. Each of the connecting arms is evenly distributed between the base and the adjustment platform, and the two ends of each connecting arm are respectively connected to the base and the adjustment platform by ball joints. A positioning piece is provided on the base, and a ball joint is connected to the center position of the adjustment platform and the positioning piece. Intervention tools are passed through the two ball joints.

[0008] As a further improvement of the above technical solution:

[0009] The positioning member comprises a cross bar, one end of which is fixedly connected to the base and the other end of which is connected to a ball joint.

[0010] A percutaneous surgical intervention device based on four-axis internal double-point dynamic constraint includes a base, four groups of connecting arms and an adjustment platform, each of the connecting arms is evenly distributed between the base and the adjustment platform, and the two ends of each connecting arm are respectively connected to the base and the adjustment platform with a ball joint, a positioning piece is provided on the base, a ball joint is connected to the center position of the adjustment platform and the positioning piece, an intervention tool is passed through the two ball joints, the positioning piece includes a cross bar and a vertical pole, the vertical pole is connected to the base, one end of the cross bar is connected to the vertical pole, and the other end is connected to the ball joint, and the vertical pole is slidably connected to the base.

[0011] As a further improvement of the above technical solution:

[0012] The crossbar and the vertical bar are both configured as telescopic bars.

[0013] A sliding portion is provided at the bottom of the upright pole, and a sliding groove matching the sliding portion is provided on the base.

[0014] The sliding portion is configured in a wedge shape and is engaged with the sliding groove.

[0015] The crossbar is connected to the vertical pole by a ball joint. The end of the crossbar is provided with a ball pin, and the end of the vertical pole is provided with a ball joint seat.

[0016] Compared with the prior art, the advantages of the present invention are:

[0017] The utility model can more effectively balance the weight distribution of the equipment by setting up four groups of connecting arms, and the two ends of the connecting arms are respectively connected to the base and the adjustment billiard ball joint to ensure flexibility and controllability when performing interventional surgery. Furthermore, by setting up two ball joints to control the positioning of the interventional tool, compared with one ball joint, the swing and deviation of the interventional tool can be reduced, so that the interventional tool remains stable during the interventional surgery, thereby improving accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of Example 1 of the present utility model.

[0019] Figure 2 It is a schematic diagram of the overall structure of Example 2 of the present utility model.

[0020] Figure 3 yes Figure 2 Enlarged view of point A in the middle.

[0021] Figure 4 yes Figure 2 Enlarged view of point B in the middle.

[0022] The numbers in the figure represent:

[0023] 1. Base; 11. Sliding groove; 2. Connecting arm; 3. Adjustment platform; 4. Positioning piece; 41. Crossbar; 411. Ball stud; 42. Vertical pole; 421. Sliding joint; 422. Ball joint seat; 5. Ball joint; 6. Intervention tool. DETAILED DESCRIPTION

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Example 1:

[0026] like Figure 1 As shown, the percutaneous surgical intervention device based on four-axis dual-point dynamic constraint of this embodiment includes a base 1, four groups of connecting arms 2 and an adjustment platform 3. The connecting arms 2 are evenly distributed between the base 1 and the adjustment platform 3, and the two ends of each connecting arm 2 are respectively connected to the base 1 and the adjustment platform 3 by a ball joint. A positioning member 4 is provided on the base 1, and a ball joint 5 is connected to the center position of the adjustment platform 3 and the positioning member 4. An intervention tool 6 is passed through the two ball joints 5. The utility model can more effectively balance the weight distribution of the equipment by providing four groups of connecting arms 2, and the two ends of the connecting arms 2 are respectively connected to the base 1 and the adjustment platform 2 by a ball joint, so as to ensure flexibility and controllability when performing interventional surgery. Furthermore, by providing two ball joints 5 to perform positioning control on the intervention tool 6, the swing and offset of the intervention tool 6 can be reduced compared with one ball joint 5, so that the intervention tool 6 remains stable during the interventional surgery, thereby improving accuracy.

[0027] The existing percutaneous surgical machinery often adopts a single ball joint technical solution. This design is because it is necessary to make a large angle adjustment to the interventional tool 6 (such as a puncture needle) through the mechanical structure during the operation. If the ball joint 5, as the clamping component of the interventional tool 6, is too close to the puncture point of the percutaneous surgery, the mechanical structure does not have enough movement space to complete the large angle adjustment of the interventional tool 6. Therefore, in the existing technical solutions, the single ball joint is set at a higher position relative to the base 1. This results in that during the puncture process, the front end of the interventional tool 6 will not contact the skin until it leaves the clamping point of the ball joint 5 for a long distance. That is, in this process, the interventional tool with greater toughness and slenderness will not be able to move. 6 will keep shaking under the drive of the mechanical structure, making it impossible for the front end of the interventional tool 6 to be accurately positioned when it contacts the skin, affecting the puncture accuracy of the percutaneous surgery; while the additional positioning piece and ball joint 5 in this embodiment are on the base 1. During the operation, the base 1 is closer to the puncture point of the percutaneous surgery. The ball joint 5 on the base 1 effectively constrains the front end of the interventional tool 6, which can well solve the technical problem of the shaking of the front end of the interventional tool 6. At the same time, the other ball joint 5 on the adjustment table 3 is distanced from the base, so that it still has space and ability to adjust the interventional tool 6 within a large angle range, thereby realizing the function of improving the puncture accuracy of the percutaneous surgery without affecting the existing adjustment requirements.

[0028] In this embodiment, a peripheral effector is mounted on the connecting arm 2. The surgeon inputs commands through a console or other control device. These commands include positioning, movement, and rotation of the peripheral effector. These commands are converted into electrical signals or other signals by the control system and then transmitted to the connected connecting arm 2 via the peripheral effector. Upon receiving the commands, the peripheral effector controls the position, angle, or other parameters of the connected connecting arm 2 according to the commands. The peripheral effector contains sensors and actuators. The sensors detect the position and state of the connecting arm 2, while the actuators control the movement of the connecting arm 2. Upon receiving the commands, the peripheral effector adjusts the position and angle of the connecting arm 2 via its internal control system to meet the surgical requirements. Furthermore, the circular-ring-shaped base 1 and adjustment platform 3 better conform to the patient's body surface, providing a more stable support and operating platform. During the surgical procedure, the base 1 is adhered to the patient's body surface using tape or other fixing means, or can be directly fixed to an external fixing device. The four sets of connecting arms 2 work together to control the adjustment platform 3 for position adjustment, thereby adjusting the position of the interventional tool 6 relative to the occlusion target. Among them, occlusion targets include inspection targets and treatment targets. For example, in the inspection of the vascular system, coronary angiography, pulmonary angiography, carotid angiography, etc. can be used to help doctors understand the condition of blood vessels and diagnose vascular diseases. In interventional tumor embolization therapy and interventional radiotherapy, radiological interventional means are used to treat tumors, vascular malformations and other diseases, as well as percutaneous tumor ablation, interventional tumor embolization therapy, etc., to treat tumors through interventional means and reduce surgical trauma. Percutaneous transforaminal endoscopic lumbar discectomy, transcranial interventional surgery, etc., are used to treat neurological diseases through interventional means.

[0029] In this embodiment, the positioning member 4 includes a crossbar 41, one end of which is fixedly connected to the base 1 and the other end is connected to the ball joint 5. In this structure, the positioning member 4 is configured as a straight crossbar 41, which has a simple structure and is easy to install, thereby improving the efficiency of the surgical operation.

[0030] Example 2:

[0031] like Figures 2 to 4 As shown, the second embodiment of the percutaneous surgical intervention device based on four-axis dual-point dynamic constraint of the present invention is basically the same as the first embodiment, with the only difference being:

[0032] In this embodiment, the positioning member 4 includes a crossbar 41 and a vertical rod 42. The vertical rod 42 is connected to the base 1. One end of the crossbar 41 is connected to the vertical rod 42, and the other end is connected to a ball joint 5. The crossbar 41 and the vertical rod 42 are both configured as telescopic rods. In this structure, the telescopic nature of the crossbar 41 can adapt to different surgical areas, and the telescopic nature of the vertical rod 42 facilitates adjustment of the height during surgery, further improving flexibility and facilitating adjustment of the surgeon's operating field, thereby enhancing the surgeon's operating comfort.

[0033] In this embodiment, the vertical rod 42 is slidably connected to the base 1. The bottom of the vertical rod 42 is provided with a sliding portion 421, and the base 1 is provided with a sliding groove 11 that matches the sliding portion 421. In this structure, through the cooperation between the sliding portion 421 and the sliding groove 11, the vertical rod 42 is slidably connected to the base 1, which further adjusts the interventional position of the interventional tool 6, allowing it to be more accurately positioned in the target area, further improving the precision of the surgery, and also expanding the working range of the device.

[0034] In this embodiment, the sliding portion 421 is configured to be wedge-shaped and is engaged with the sliding groove 11. In this structure, the sliding portion 421 is configured to be wedge-shaped and is engaged with the sliding groove 11 to ensure connection stability.

[0035] In this embodiment, the crossbar 41 is connected to the vertical rod 42 via a ball joint. A ball stud 411 is provided at the end of the crossbar 41, and a ball joint seat 422 is provided at the end of the vertical rod 42. This structure provides greater freedom of movement between the crossbar 41 and the vertical rod 42, increasing the range of motion of the ball joint 5 on the crossbar 41. It can move and rotate in multiple directions, greatly enhancing the flexibility and adaptability of the interventional tool 6 to meet complex surgical needs.

[0036] Although the present invention has been disclosed above with reference to preferred embodiments, this is not intended to limit the present invention. Any person skilled in the art can, without departing from the scope of the present invention, utilize the technical content disclosed above to make many possible changes and modifications to the present invention, or modify it into equivalent embodiments with equivalent variations. Therefore, any simple modifications, equivalent variations, and modifications to the above embodiments that do not depart from the content of the present invention and are based on the technical essence of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A percutaneous surgical intervention device based on four-axis dual-point dynamic constraint, characterized by: The invention comprises a base (1), four groups of connecting arms (2) and an adjustment platform (3), wherein each connecting arm (2) is evenly distributed between the base (1) and the adjustment platform (3), and both ends of each connecting arm (2) are respectively connected to the base (1) and the adjustment platform (3) by a ball joint, a positioning member (4) is provided on the base (1), and a ball joint (5) is connected to the center position of the adjustment platform (3) and the positioning member (4), and an intervention tool (6) is passed through the two ball joints (5).

2. The percutaneous surgical intervention device based on four-axis dual-point dynamic constraint according to claim 1, characterized in that: The positioning member (4) comprises a crossbar (41), one end of the crossbar (41) is fixedly connected to the base (1), and the other end is connected to a ball joint (5).

3. A percutaneous surgical intervention device based on four-axis dual-point dynamic constraint, characterized by: The invention comprises a base (1), four groups of connecting arms (2) and an adjustment platform (3), wherein each connecting arm (2) is evenly distributed between the base (1) and the adjustment platform (3), and both ends of each connecting arm (2) are respectively connected to the base (1) and the adjustment platform (3) by a ball joint, a positioning member (4) is provided on the base (1), a ball joint (5) is connected to the center position of the adjustment platform (3) and the positioning member (4), and an intervention tool (6) is passed through the two ball joints (5), the positioning member (4) comprises a crossbar (41) and a vertical rod (42), the vertical rod (42) is connected to the base (1), one end of the crossbar (41) is connected to the vertical rod (42), and the other end is connected to the ball joint (5), and the vertical rod (42) is slidably connected to the base (1).

4. The percutaneous surgical intervention device based on four-axis dual-point dynamic constraint according to claim 3, characterized in that: The crossbar (41) and the vertical bar (42) are both configured as telescopic bars.

5. The percutaneous surgical intervention device based on four-axis dual-point dynamic constraint according to claim 4, characterized in that: A sliding portion (421) is provided at the bottom of the vertical pole (42), and a sliding groove (11) matching the sliding portion (421) is provided on the base (1).

6. The percutaneous surgical intervention device based on four-axis dual-point dynamic constraint according to claim 5, characterized in that: The sliding portion (421) is configured in a wedge shape and is engaged with the sliding groove (11).

7. The percutaneous surgical intervention device based on four-axis dual-point dynamic constraint according to claim 6, characterized in that: The crossbar (41) is connected to the vertical bar (42) by a ball joint. A ball pin (411) is provided at the end of the crossbar (41), and a ball joint seat (422) is provided at the end of the vertical bar (42).

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