Precise remote control puncture positioning system

Abstract

The present invention relates to a precise remote control puncture positioning system. The present invention comprises: a longitudinal translation mechanism: a left guide rail and a right guide rail are fixed on both sides of an outer frame, an inner frame is slidably matched on the left guide rail and the right guide rail, the inner frame is fixedly connected to the output shaft of a longitudinal motor through a longitudinal screw, and the inner frame is driven by a longitudinal motor to achieve longitudinal translation; a transverse translation mechanism: a front guide rail and a rear guide rail are fixed on the inner frame, a bottom plate is slidably matched on the front guide rail and the rear guide rail, the bottom plate is fixedly connected to the output shaft of a transverse motor through a transverse screw, and the bottom plate is driven by a transverse motor to achieve transverse translation; a longitudinal swing mechanism: the upper end of the bottom plate is hinged to an outer fan-shaped frame, the outer fan-shaped frame has a transverse groove, the upper part of the puncture guide tube is hinged in the transverse groove, the outer fan-shaped frame is driven by a longitudinal swing motor, the outer fan-shaped frame is longitudinally swung, and the puncture guide tube is driven longitudinally to swing; and a transverse swing mechanism.

Description

Technical Field

[0001] The invention relates to a positioning device, in particular to a remote control puncture positioning system. Background Art

[0002] Puncture is used in both tumor pathological analysis and ablation treatment, especially for small nodules, which require precise puncture. The existing image-guided puncture process is as follows: 1. Before the operation, a metal grid label is attached to the patient's puncture area, and the needle path is formulated through CT scanning to determine the puncture position and angle. 2. The patient is removed from the CT aperture, the puncture point is marked on the skin, the needle cap is used to puncture at the marked position, and the CT is scanned again. 3. According to the preoperatively planned layer, puncture angle and depth, the doctor performs the puncture operation without any image guidance with the help of an assistant to prompt the angle. At this time, there is no CT image guidance, and the doctor performs the puncture completely based on his own experience. At this time, it is difficult to grasp the puncture angle accurately, so it is called "blind puncture". In order to avoid damage to large blood vessels or other organs during the puncture process, and the puncture path is offset from the plan, the doctor adopts the method of multiple needle adjustments to insert the needle, and the initial needle insertion depth ensures that it enters the organ substance. 4. The doctor leaves the CT room and moves the patient into the CT machine for scanning again to observe whether the puncture point and angle are executed according to the preoperative plan. If the direction is correct, the doctor will enter the CT room again and puncture the needle into the deep part of the tumor twice (the number of punctures is determined according to the depth of the lesion). 5. If it is not appropriate, withdraw the puncture needle slightly, adjust the angle and repeat steps 3 and 4.

[0003] The disadvantages of the existing technology are that such "blind puncture" often needs to be repeated several times to be completed, which increases the patient's radiation dose and is prone to cause complications such as bleeding, pneumothorax, etc., which increases the workload of doctors and leads to low efficiency.

[0004] At present, some people have made large floor-standing brackets in this type of research, but the mechanism is different from that of the present invention. It cannot be put into the CT machine with the patient, and cannot be adjusted while scanning, that is, it cannot scan and adjust simultaneously. If it cannot be fixed on the human body, the human body's entry and exit on the CT will be completely inaccurate. Summary of the invention

[0005] In order to overcome the shortcomings of the prior art, the present invention provides a precise remote control puncture positioning system, which has a high degree of automation, accurate positioning, and high speed, and can achieve accurate puncture in one time.

[0006] The technical solution adopted by the present invention to solve the technical problem is: the present invention comprises:

[0007] Longitudinal translation mechanism: a left guide rail and a right guide rail are fixed on both sides of the outer frame, an inner frame is slidably matched on the left guide rail and the right guide rail, the inner frame is fixedly connected to the output shaft of the longitudinal motor through a longitudinal lead screw, and the inner frame is driven by the longitudinal motor to achieve longitudinal translation;

[0008] Transverse translation mechanism: the front guide rail and the rear guide rail are fixed on the inner frame respectively, the front guide rail and the rear guide rail are slidably matched with a bottom plate, the bottom plate is fixedly connected to the output shaft of the transverse motor through a transverse lead screw, and the bottom plate is driven by the transverse motor to achieve transverse translation;

[0009] Longitudinal swing mechanism: the upper end of the bottom plate is hinged to the outer fan-shaped frame, the outer fan-shaped frame has a transverse groove, the upper part of the puncture guide tube is hinged in the transverse groove, the outer fan-shaped frame is driven by a longitudinal swing motor to realize the longitudinal swing of the outer fan-shaped frame, and at the same time drive the puncture guide tube to swing longitudinally;

[0010] And a lateral swing mechanism: the lower end of the bottom plate is hinged to an inner fan-shaped frame, the inner fan-shaped frame has a longitudinal groove, the lower part of the puncture guide tube is hinged in the longitudinal groove, the inner fan-shaped frame is driven by a lateral swing motor to achieve lateral swing of the inner fan-shaped frame, and at the same time drive the puncture guide tube to swing lateral.

[0011] The present invention has high automation, accurate positioning and high speed, and can realize accurate puncture in one time. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0013] Figure 1 It is the front view of the present invention.

[0014] Figure 2 For reference. DETAILED DESCRIPTION

[0015] like Figure 1 As shown, the present invention includes:

[0016] Longitudinal translation mechanism: a left guide rail 19 and a right guide rail 8 are fixed on both sides of the outer frame 1, and an inner frame 2 is slidably matched on the left guide rail 19 and the right guide rail 8. The inner frame 2 is fixedly connected to the output shaft of the longitudinal motor 11 through the longitudinal lead screw 10. The inner frame 2 is driven by the longitudinal motor 11 to achieve longitudinal translation. The longitudinal motor 11 is fixed to the outer frame 1;

[0017] Transverse translation mechanism: the front guide rail 20 and the rear guide rail 7 are respectively fixed on the inner frame 2, and the front guide rail 20 and the rear guide rail 7 are slidably matched with the bottom plate 3, the bottom plate 3 is fixedly connected to the output shaft of the transverse motor 12 through the transverse lead screw 9, and the bottom plate 3 is driven by the transverse motor 12 to achieve transverse translation, the transverse lead screw 9 is fixed to the bottom plate 3 through a bearing, and the transverse motor 12 is fixed to the inner frame 2;

[0018] Longitudinal swing mechanism: the upper end of the bottom plate 3 is hinged to the outer fan-shaped frame 4, the outer fan-shaped frame 4 has a transverse groove, the upper part of the puncture guide tube 6 is hinged in the transverse groove, the outer fan-shaped frame 4 is driven by a longitudinal swing motor 13 to realize the longitudinal swing of the outer fan-shaped frame 4, and at the same time drive the puncture guide tube 6 to swing longitudinally, and the longitudinal swing motor 13 is fixed to the bottom plate 3;

[0019] And a lateral swing mechanism: the lower end of the base plate 3 is hinged to the inner fan-shaped frame 5, the inner fan-shaped frame 5 has a longitudinal groove, the lower part of the puncture guide tube is hinged in the longitudinal groove, the inner fan-shaped frame 5 is driven by a lateral swing motor 14 to realize the lateral swing of the inner fan-shaped frame 4 and drive the puncture guide tube 6 to swing lateral, and the lateral swing motor 14 is fixed to the base plate 3.

[0020] A longitudinal displacement sensor 15 is fixed on the outer frame 1 close to the inner frame 2 to monitor and output the longitudinal movement of the inner frame 2 in real time.

[0021] A lateral displacement sensor 16 is fixed on the inner frame 2 close to the bottom plate 3 to monitor and output the lateral movement of the bottom plate 3 in real time.

[0022] A longitudinal angle sensor 18 is fixed on the bottom plate 3 close to the outer sector frame 4 to monitor and output the longitudinal swing angle of the outer sector frame 4 in real time.

[0023] A lateral angle sensor 17 is fixed on the bottom plate 3 close to the inner sector frame 5 to monitor and output the lateral swing angle of the inner sector frame 5 in real time.

[0024] The present invention is controlled by a remote controller.

[0025] When in use, the outer frame 1 is fixed on the human skin with medical tape, and the bottom of the puncture catheter 6 is aligned with the basic puncture position. The patient is moved into the CT machine. The doctor leaves the CT room and goes to the CT control room, and operates the locator with the remote controller on the operating table.

[0026] Step 1: Vertical Movement

[0027] The inner frame 2 is controlled to move along the track 8 in the longitudinal direction of the human body (head and feet direction), and at the same time drives the puncture catheter 6 to move in the same direction. The movement in this direction is driven by the motor 11, and the rotation of the motor 11 drives the lead screw 10 to rotate, thereby driving the inner frame 2 to move longitudinally along the track 8. The displacement in this direction is measured by the sensor 15.

[0028] Step 2: Horizontal Movement

[0029] The control base plate 3 moves horizontally along the track 7 in the human body, and at the same time drives the puncture catheter 6 to move in the same direction. The movement in this direction is driven by the motor 12. The rotation of the motor 12 drives the lead screw 9 to rotate, thereby driving the base plate 3 to move horizontally along the track 7. The displacement in this direction is measured by the sensor 16. Through the operation of the above two steps, the doctor can adjust the puncture catheter to accurately align with the puncture point.

[0030] Step 3: Adjust the puncture angle

[0031] The remote controller is operated to adjust the longitudinal angle of the puncture catheter 6. The longitudinal swing motor 13 makes the outer fan-shaped frame 4 swing longitudinally at a certain angle, thereby making the puncture catheter 6 swing at a corresponding angle. The angle sensor 18 gives the angle value. The remote controller is operated to adjust the transverse angle of the puncture catheter 6. The transverse swing motor 14 makes the inner fan-shaped frame 5 swing transversely at a certain angle, thereby making the puncture catheter 6 swing at a corresponding angle. The angle sensor 17 gives the angle value.

[0032] Step 4: Verification

[0033] Use a CT machine to verify whether the extension line of the puncture catheter is accurately aligned with the puncture position and depth to be reached by the puncture needle. If it is not accurate, repeat the above three steps until it is accurate.

[0034] Step 5: Puncture

[0035] The CT machine is turned off, and the doctor enters the CT room and moves the patient out of the CT machine. The puncture needle is inserted along the puncture catheter 6 to the depth given by the CT, and the lesion point is accurately reached at one time.

Claims

1. A precise remote control puncture positioning system, characterized by: include: Longitudinal translation mechanism: a left guide rail (19) and a right guide rail (8) are respectively fixed on both sides of the outer frame (1); an inner frame (2) is slidably matched on the left guide rail (19) and the right guide rail (8); the inner frame (2) is fixedly connected to the output shaft of the longitudinal motor (11) via a longitudinal lead screw (10); the inner frame (2) is driven by the longitudinal motor (11) to achieve longitudinal translation; Transverse translation mechanism: the front guide rail (20) and the rear guide rail (7) are respectively fixed on the inner frame (2), the front guide rail (20) and the rear guide rail (7) are slidably matched with a bottom plate (3), the bottom plate (3) is fixedly connected to the output shaft of the transverse motor (12) through a transverse lead screw (9), and the bottom plate (3) is driven by the transverse motor (12) to achieve transverse translation; Longitudinal swing mechanism: the upper end of the bottom plate (3) is hingedly connected to an outer fan-shaped frame (4), the outer fan-shaped frame (4) has a transverse groove, the upper part of the puncture guide tube (6) is hingedly connected in the transverse groove, the outer fan-shaped frame (4) is driven by a longitudinal swing motor (13), the outer fan-shaped frame (4) is longitudinally swung, and the puncture guide tube (6) is driven to swing longitudinally at the same time; and a transverse swing mechanism: the lower end of the bottom plate (3) is hingedly connected to an inner fan-shaped frame (5), the inner fan-shaped frame (5) having a longitudinal groove, the lower part of the puncture guide tube being hingedly connected in the longitudinal groove, the inner fan-shaped frame (5) being driven by a transverse swing motor (14) to realize transverse swing of the inner fan-shaped frame (5), and at the same time drive the puncture guide tube (6) to swing transversely.

2. The precise remote control puncture positioning system according to claim 1, characterized in that: A longitudinal displacement sensor (15) is fixed on the outer frame (1) close to the inner frame (2).

3. The precise remote control puncture positioning system according to claim 1, characterized in that: A lateral displacement sensor (16) is fixed on the inner frame (2) close to the bottom plate (3).

4. The precise remote control puncture positioning system according to claim 1, characterized in that: A longitudinal angle sensor (18) is fixed on the bottom plate (3) close to the outer fan-shaped frame (4).

5. The precise remote control puncture positioning system according to claim 1, characterized in that: A lateral angle sensor (17) is fixed on the bottom plate (3) close to the inner fan-shaped frame (5).

Images