Medical loading device

Abstract

The medical loading device involved in the present application is used to load medical equipment, including a frame, a driving member arranged on the frame, and a sliding body and a guiding device arranged on the frame. The frame extends along a first direction and has a first end located in the first direction. A first guiding portion extending along the first direction is arranged on the frame, the sliding body is arranged on the first guiding portion, the guiding device is arranged at the first end, and the medical equipment is arranged between the guiding device and the sliding body. Under the action of the driving member, the sliding body moves on the first guiding portion toward the guiding device to push the medical equipment to the patient's target position through the guiding device, thereby realizing automatic operation of the machine to complete the rapid loading and unloading of medical equipment, greatly reducing the surgical risk, improving the accuracy of implantation, shortening the implantation time, and greatly reducing the degree of dependence of the operation on the doctor. At the same time, the device is fully compatible with magnetic resonance imaging and can understand the implantation status in real time.

Description

Technical Field

[0001] The invention relates to a medical loading device, belonging to medical surgical instruments. Background Art

[0002] The existing implantation surgery mainly involves the surgeon manually placing the required implant material at the location of the human lesion after opening the hole. Therefore, the implantation process is highly dependent on the surgeon, the operation is complicated, and the accuracy is difficult to guarantee. With the development of science and technology, robot-assisted surgery will gradually become popular, and implantation surgery generally uses robot automatic positioning. However, the use of a robotic arm to achieve the implantation process still requires a set of devices that can be used with the robotic arm and guide the implantation. Summary of the invention

[0003] The object of the present invention is to provide a medical loading device which is compatible with magnetic resonance imaging and can quickly load and unload medical equipment.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a medical loading device for loading medical equipment, the medical loading device comprising a frame, a driving member arranged on the frame, a sliding body arranged on the frame, and a guiding device arranged on the frame, the frame extending along a first direction, the frame having a first end located in the first direction, a first guiding portion extending along the first direction being arranged on the frame, the sliding body being arranged on the first guiding portion, the guiding device being arranged at the first end, the central axis of the guiding device being the same as the first direction, the medical equipment being arranged between the guiding device and the sliding body, and the sliding body moving toward the guiding device on the first guiding portion under the action of the driving member to push the medical equipment to reach the patient's target position through the guiding device.

[0005] Furthermore, a second guide portion extending along the first direction is provided on the frame, and the second guide portion drives the guide device to move relative to a target position of the patient.

[0006] Furthermore, the guiding device includes a fixing member fixed on the frame, and a moving member movable relative to the fixing member, and the second guiding part drives the moving member to move relative to the patient's target position under the action of an external force.

[0007] Furthermore, a stopper is provided on the frame for stopping the sliding body from moving toward the guide device at a set position.

[0008] Furthermore, the stopper can move relative to the frame along the first direction, and the stopper is positioned at a set position of the frame by a fixing structure.

[0009] Furthermore, the stopper can move relative to the frame along the first direction, and the stopper is positioned at a set position of the frame by its own holding force.

[0010] Furthermore, scale marks extending along the first direction are formed on the frame.

[0011] Furthermore, the first guide portion includes a rack arranged on the frame and extending along the first direction and a turbine arranged on the rack, the driving member is a motor, the turbine is arranged on the output shaft of the motor, and the motor and / or the turbine are mounted on the sliding body.

[0012] Furthermore, the second guide portion includes a driving rod arranged on the frame and extending along the first direction and fixedly connected to the fixing member, and a second internal threaded hole formed in the movable member to be threadedly connected to the fixing member, and the movable member can be driven by the driving rod to move along the first direction on the driving rod.

[0013] Furthermore, the medical loading device is used in a nuclear magnetic resonance compatible environment.

[0014] The beneficial effects of the present invention are as follows: the medical loading device sets the medical equipment between the guide device and the sliding body, and the sliding body moves toward the guide device under the action of the driving member to push the medical equipment to the patient's target position through the guide device, thereby realizing automatic operation of the machine to complete the rapid loading and unloading of the medical equipment, greatly reducing the surgical risk, improving the accuracy of implantation, shortening the implantation time, and greatly reducing the degree of dependence of the operation on the doctor. At the same time, the device is fully compatible with magnetic resonance imaging and can understand the status of the implantation in real time.

[0015] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of a medical loading device shown in the first embodiment of the present invention;

[0017] Figure 2 for Figure 1 Schematic diagram of the structure of the medical loading device in another direction. DETAILED DESCRIPTION

[0018] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0019] See also Figure 1 and Figure 2 The medical loading device shown in the first embodiment of the present invention is used to load medical equipment (not shown). The medical loading device includes a frame 1, a driving member (not shown) disposed on the frame 1, a sliding body 2 disposed on the frame 1, and a guide device 3 disposed on the frame 1 and close to or against the patient's target position. In this embodiment, the guide device 3 has a first position and a second position. In the first position, the guide device 3 is close to the patient's target position but does not against the patient's target position, and there is a certain distance between the guide device 3 and the patient's target position. In the second position, the guide device 3 is against the patient's target position.

[0020] The frame 1 extends along a first direction. Figure 1 As shown in a, the frame 1 has a groove 11 extending along a first direction, a first side wall 12 and a second side wall 13 surrounding the groove 11 and arranged opposite to each other, and a third side wall 14 connecting the first side wall 12 and the second side wall 13. In this embodiment, the cross section of the frame 1 is a U-shaped structure. In other embodiments, the specific structure of the frame 1 can be selected according to actual needs and is not specifically limited here. A fixing member 15 for fixing the medical loading device to other devices is also formed on the frame 1. In this embodiment, the fixing member 15 protrudes outward from the third side wall 14, and the fixing member 15 can be connected to the end of the mechanical arm to fix the medical loading device to the end of the mechanical arm. In other embodiments, the fixing member can be set at any position on the frame, and the medical loading device can be fixed to other required devices through the fixing member. Of course, the fixing member 15 can also be set as a gripping portion for holding, so that the medical loading device is a handheld medical loading device. The frame 1 has a first end and a second end located in a first direction, the first end and the second end are two ends of the frame 1, a first fixing portion 16 is formed on the first end of the frame 1, and a second fixing portion 17 is formed on the second end of the frame 1. The first fixing portion 16 and the second fixing portion 17 can be integrally formed with the frame 1, or can be detachably fixedly connected, which is not specifically limited here and can be selected according to actual needs. The first fixing portion 16 is a hollow ring-like structure, and the structure of the second fixing portion 17 is not specifically limited here. In this embodiment, the medical loading device is powered by a power supply arranged on the robot arm, and the control module arranged on the robot arm controls the medical loading device to perform the required operation, wherein the driving member is powered by the power supply arranged on the robot arm.

[0021] The frame 1 is provided with a first guide portion (not numbered) extending in a first direction. The first guide portion includes a rack 41 provided on the frame 1 and extending in the first direction and a turbine (not shown) provided on the rack 41. Specifically, the rack 41 is provided in the groove 11 of the frame 1 and fixed on the third side wall 14. The turbine is provided above the rack 41 and cooperates with the rack 41. The turbine can move relative to the rack 41 on the rack 41. The turbine is driven by a driving member. In this embodiment, the driving member is a motor, and the turbine is provided on the output shaft of the motor. The motor and the turbine are installed on the sliding body 2, or only one of the motor and the turbine needs to be installed on the sliding body 2. In other embodiments, the first guide portion may also include a driving rod and a thread provided on the sliding body 2 and cooperated with the driving rod. The driving rod is driven to rotate by the driving member, and the driving member may be a motor.

[0022] The sliding body 2 is arranged on the first guide part, and can be driven by the motor to move on the rack 41 relative to the frame 1. Specifically, the sliding body 2 has a clamping part 21 clamped on the frame 1, and the clamping part 21 is clamped on the first side wall 12 and the second side wall 13 and can slide on the first side wall 12 and the second side wall 13. The motor drives the turbine to move on the rack 41, so that the sliding body 2 connected to the motor and the turbine can move relative to the frame 1. In order to reduce the volume of the sliding body, the motor and the turbine are installed at the position where the clamping part 21 is located in the groove 11.

[0023] The guide device 3 is used to guide the moving path of the loaded medical equipment. A guide hole 33 is formed through the guide device 3 for loading the required medical equipment. The medical equipment can be an electrode sheet, an electrode sleeve, a puncture device, a drainage device, etc., but is not limited to this. The medical equipment can also be other required devices. The guide hole 33 can be set according to the shape of the required medical equipment, and can also be set to a certain size so that all medical equipment can pass through.

[0024] In this embodiment, in addition to guiding the moving path, the guide device 3 can also be loaded with medical equipment, and the medical equipment is fixed at the patient's target position or inserted into the patient's target position. The guide device 3 is arranged at the first end of the frame 1, and the guide device 3 is arranged on the first fixing portion 16. Specifically, the guide device 3 is inserted and fixed in the first fixing portion 16 and can rotate relative to the first fixing portion 16. In this embodiment, since the guide device 3 can move between the first position and the second position, the specific structure of the guide device 3 in this embodiment is: the guide device 3 includes a fixing member 31 fixed to the first fixing portion 16, and a moving member 32 that can move relative to the fixing member 31. The fixing member 31 is a hollow cylindrical structure with one end closed, and the fixing member 31 is sleeved on the moving member 32. The central axis of the guide device 3 is the same as the first direction. In other embodiments, the guide device 3 may not move, that is, it does not have a first position and a second position, and it can always form a certain distance between the patient's target position, or always abut against the patient's target position, or have entered the patient's target position.

[0025] The frame 1 is also provided with a second guide portion extending along the first direction, and the second guide portion drives the guide device 3 to move relative to the patient's target position, that is, the second guide portion drives the guide device 3 to move between the first position and the second position. Specifically, the second guide portion drives the movable member 32 to move relative to the patient's target position under the action of an external force. In detail, the second guide portion includes a driving rod 51 arranged on the frame 1 and extending along the first direction and fixedly connected to the fixed member 31, and a second internal threaded hole (not shown) formed in the movable member 32 to be threadedly connected to the fixed member 31, wherein the fixed member 31 and the movable member 32 are threadedly connected, and the movable member 32 can be driven by the driving rod 51 to move along the first direction on the driving rod 51. Of course, in other embodiments, the fixed member may not be provided in the guide device, and the movable member 32 is directly threadedly connected to the driving rod. The driving rod 51 is located above the groove 11, and one end of the driving rod 51 is arranged on the second fixing part 17 of the second end. The second fixing part 17 is formed with a first through hole 171 for the driving rod 51 to pass through. The driving rod 51 can rotate relative to the second fixing part 17 in the first through hole 171, and, located at the outer side of the second fixing part 17, one end of the driving rod 51 is fixedly connected with a knob 52, so as to facilitate the rotation of the driving rod 51. The knob 52 is easy to hold and has high comfort in operation. The sliding body 2 is arranged between the guide device 3 and the second end, so that the driving rod 51 passes through the sliding body 2, and the sliding body 2 is formed with a second through hole 22 for the driving rod 51 to pass through. The driving rod 51 can also rotate in the second through hole 22. By rotating the knob 52, the driving rod 51 drives the fixing member 31 to rotate, and the moving member 32 with the second internal threaded hole moves relative to the fixing block 31 on the first end.

[0026] The frame 1 is also provided with a stopper 6 for stopping the sliding body 2 from moving toward the guide device 3 at the set position, so as to prevent the medical equipment from exceeding the patient's lesion position. The stopper 6 can move relative to the frame 1 along the first direction. The method for positioning the stopper 6 at the set position of the frame 1 can be that the stopper 6 is positioned at the set position of the frame 1 by a fixed structure, or the stopper 6 is positioned at the set position of the frame 1 by its own holding force. No specific limitation is made here. Other methods that can position the stopper 6 at the set position of the frame 1 can also be used, which can be selected as needed. In this embodiment, the stopper 6 includes a first clamping arm 61 and a second clamping arm 62 that are arranged opposite to each other, and a fastener 63 that is bolted to the first clamping arm 61 and the second clamping arm 62 to adjust the tension of the first clamping arm 61 and the second clamping arm 62 acting on the frame 1. The first clamping arm 61 and the second clamping arm 62 are clamped on the first side wall 12 and the second side wall 13 respectively, and the clamping force of the first clamping arm 61 and the second clamping arm 62 on the first side wall 12 and the second side wall 13 is changed by the fastener 63, so as to realize the sliding of the stopper 6 on the frame 1 or fixation at a required position.

[0027] The frame 1 is also provided with a scale mark 7 extending along the first direction. The scale mark 7 is formed on the first side wall 12 or the second side wall 13. Of course, the scale mark 7 can be formed on both the first side wall 12 and the second side wall 13. Through the scale mark 7, the movement displacement of the sliding body 2 and the stopper 6 can be easily understood, and the movement displacement of the medical equipment set in the medical loading device can be accurately controlled. The medical equipment is set between the guide device 3 and the sliding body 2. Under the action of the driving member, the sliding body 2 moves toward the guide device 3 on the first guide part to push the medical equipment to reach the patient's target position through the guide device 3, so that the medical equipment moves toward the target object. In this embodiment, the medical equipment is an electrode sleeve, and an electrode sheet is placed in the electrode sleeve. A cranial hole lock is set on the guide device 3, and the patient's target position is set at the human skull. Specifically, the electrode sleeve equipped with the electrode sheet is arranged between the guide device 3 and the sliding body 2, and one end of the electrode sleeve is fixed on the sliding body 2, and the other end of the electrode sleeve is arranged in the guide hole 33, and the stopper 6 is set at the required position. The motor drives the turbine to move on the rack 41, so that the sliding body 2 connected to the motor and the turbine moves in the first direction, so that the electrode sleeve equipped with the electrode sheet moves toward the human head until the sliding body 2 moves to the position of the stopper 6, and the electrode sleeve is inserted into the human head. At this time, one end of the electrode sheet enters the human head and reaches the human lesion, and then, the rotation The knob 52 is turned to rotate the driving rod 51 and the fixing member 31, so that the moving member 32 with the internal threaded hole matching the fixing member 31 moves in the first direction, so that the cranial hole lock moves toward the human skull until the cranial hole lock is fixed at the human skull. At the same time, the cranial hole lock fixes one end of the electrode sheet close to the human skull to the human skull. At this time, one end of the electrode sheet is inserted into the human lesion, and the other end is fixed to the skull by the cranial hole lock. Then, the motor is started to drive the sliding body 2 to move the electrode sleeve in a direction away from the patient's target position, so that the electrode sleeve is pulled out, thereby completing the implantation of the entire electrode sheet. In this embodiment, the cranial hole lock does not enter the human lesion, but in other embodiments, the guide device may be other implant devices or implant materials such as tablets. At this time, the driving rod drives the guide device to allow the tablet to enter the human lesion. The medical loading device can be used not only in the human skull, but also in other parts of the human body, such as in spinal surgery.

[0028] The medical loading device is installed at the end of the robotic arm and can realize the rapid loading and unloading of medical equipment. The main functions of the device include but are not limited to auxiliary positioning, craniotomy drilling, electrode implantation, self-service installation of cranial hole locks, etc. In this embodiment, the medical equipment is an electrode sleeve with an electrode sheet. Since the electrode implantation is completely completed automatically by the machine instead of the existing manual implantation, the surgical risk is greatly reduced, the accuracy of electrode implantation is improved, and the implantation time is shortened. It also greatly reduces the degree of dependence of the operation on doctors, and is expected to carry out the possibility of multiple operations at the same time. At the same time, the device can be used for surgery in a nuclear magnetic compatible environment, and imaging can be performed at any time to confirm the progress of the operation and to clearly understand the status of the electrode implantation. It should be noted that the control part in this embodiment is connected to the control module of the robotic arm after all the cables are led out, and the control module realizes the control of the medical loading device.

[0029] The medical loading device shown in the second embodiment of the present invention is basically the same as the medical loading device shown in the first embodiment, except that in this embodiment, the driving member is arranged at the second end of the frame, and the driving member is a motor. The first guide portion is a driving screw connected to the motor, and a sliding nut matched with the driving screw, and the sliding nut is arranged in the clamping portion of the sliding body. The driving screw connected to the motor is driven by the frame, and the sliding nut is driven to move by the rotation of the driving screw, thereby driving the sliding body to move in the first direction.

[0030] In summary, the medical loading device sets the medical equipment between the guide device and the sliding body. The sliding body moves toward the guide device under the action of the driving member to push the medical equipment through the guide device to reach the patient's target position, thereby realizing automatic operation of the machine to complete the rapid loading and unloading of medical equipment, greatly reducing surgical risks, improving implantation accuracy, shortening implantation time, and greatly reducing the degree of dependence of the operation on doctors. At the same time, the device is fully compatible with magnetic resonance imaging and can understand the status of the implant in real time.

[0031] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0032] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A medical loading device, characterized in that: Used to load medical equipment, the medical loading device comprises a frame, a driving member arranged on the frame, a sliding body arranged on the frame, and a guiding device arranged on the frame, the frame extends along a first direction, the frame has a first end located in the first direction, a first guiding portion extending along the first direction is arranged on the frame, the sliding body is arranged on the first guiding portion, the guiding device is arranged at the first end, the central axis of the guiding device is the same as the first direction, the medical equipment is arranged between the guiding device and the sliding body, and the sliding body moves toward the guiding device on the first guiding portion under the action of the driving member to push the medical equipment to the patient's target position through the guiding device; The guide device is formed with a guide hole for loading the medical device, and other implant devices are loaded on the guide device. The frame is provided with a second guide portion extending along the first direction, and the second guide portion drives the guide device to move relative to the patient's target position so that the implant device is fixed at the patient's target position or inserted into the patient's target position.

2. The medical loading device according to claim 1, characterized in that: The guiding device comprises a fixing part fixed on the frame, and a moving part movable relative to the fixing part, and the second guiding part drives the moving part to move relative to the patient's target position under the action of an external force.

3. The medical loading device according to claim 1, characterized in that: The frame is provided with a stopper for stopping the sliding body from moving toward the guide device at a set position.

4. The medical loading device according to claim 3, characterized in that: The stopper can move relative to the frame along the first direction, and the stopper is positioned at a set position of the frame by a fixing structure.

5. The medical loading device according to claim 3, characterized in that: The stopper can move relative to the frame along the first direction, and the stopper is positioned at a set position of the frame by its own holding force.

6. The medical loading device according to claim 1, characterized in that: The frame is formed with scale marks extending along the first direction.

7. The medical loading device according to claim 1, characterized in that: The first guide portion includes a rack disposed on the frame and extending along the first direction and a turbine disposed on the rack. The driving member is a motor. The turbine is disposed on an output shaft of the motor. The motor and / or the turbine are mounted on the sliding body.

8. The medical loading device according to claim 2, characterized in that: The second guide portion includes a driving rod which is arranged on the frame and extends along the first direction and is fixedly connected to the fixing member, and a second internal threaded hole formed in the moving member and threadedly connected to the fixing member. The moving member can be driven by the driving rod to move along the first direction on the driving rod.

9. The medical loading device according to any one of claims 1 to 8, characterized in that: The medical loading device is used in a nuclear magnetic field compatible environment.

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