Remote interventional device and magnetically compatible remote interventional system

Abstract

The application provides a remote intervention device and a magnetic compatible remote intervention system. The remote intervention device comprises a spherical hinge mechanism, a screw nut mechanism, an intermediate connecting mechanism and a driving mechanism; a human body mounting position is arranged on the spherical hinge mechanism; the spherical hinge mechanism is mounted at the end of the screw nut mechanism; the driving mechanism is connected with the screw nut mechanism through the intermediate connecting mechanism; an intervention needle mounting position is arranged on the screw nut mechanism, and the intervention needle mounting position is used for mounting an intervention needle; the driving mechanism can drive the screw nut mechanism through the intermediate connecting mechanism, so that the intervention needle moves to realize an intervention operation; the application has the advantages of simple structure, light quality, convenient operation, fixation on the head of a patient and non-influence of intervention precision by the involuntary movement of the patient. The adjustment mode of the intervention track adopts the spherical hinge mechanism, which is very flexible and has a larger adjustable angle range.

Description

Technical Field

[0001] This invention relates to the field of medical devices, specifically to a remote interventional device and a magnetically compatible remote interventional system, particularly to a magnetically compatible remote interventional device based on a lead screw and hinge mechanism, and especially to a remote interventional device and a magnetically compatible remote interventional system for brain tissue intervention. Background Technology

[0002] Magnetic resonance imaging (MRI) is one of the important technical means for the clinical diagnosis and treatment of important diseases such as cardiovascular and cerebrovascular diseases and tumors. Compared with CT and PET, it is non-invasive, has structural imaging capabilities, excellent soft tissue contrast, and can provide multi-angle, multi-layer three-dimensional imaging. Moreover, it does not expose patients to the destructive ionizing radiation of X-rays, is radiation-free, and is safer for patients and medical staff.

[0003] However, the limited space within an MRI scanner restricts the effectiveness of many treatments. Robots or interventional needles operating within it are also constrained by space limitations, thus reducing detection efficiency.

[0004] Currently, interventional robotic devices operating under MRI conditions have attempted to address this issue, but existing solutions generally suffer from drawbacks such as weak connection to the patient's body, complex device structure, and limited range of adjustment angles.

[0005] Patent document CN113893036A discloses an interventional robot device in a magnetic resonance imaging (MRI) environment, comprising: a robot body disposed within an MRI machine, including a fixed base, a support base, a drive mechanism, and an end effector mechanism; the support base is disposed above the fixed base, forming an operating space with the fixed base; the drive mechanism is disposed within the operating space, and the drive mechanism controls the end effector mechanism to adjust its position. This interventional robot device has a complex structure, is relatively heavy, and is not rigidly connected to the patient's body, making its interventional accuracy susceptible to influence from the patient's involuntary movements.

[0006] Patent document CN103876786A discloses a breast intervention robot compatible with MRI, comprising: a positioning module, a puncture module, a breast stabilization module, a biopsy module, a storage module, a drive module, and a prone support. The positioning module, used to locate the needle insertion point, consists of a linear slide driven by three lead screws and nuts; the puncture module, driven by a lead screw and nut mechanism, inserts the biopsy needle into the body and delivers it to the target point; the biopsy module, used to collect tissue samples, includes a biopsy needle mechanism and a biopsy needle drive slide, enabling automatic winding and firing operations; the storage module, with multiple storage compartments that can be rotated, stores the samples retrieved by the biopsy module; the breast stabilization module stabilizes the morphology of the breast tissue; the drive module remotely drives the robot; and the prone support supports the patient's body and accommodates the breast intervention robot. Except for the inner needle, outer needle, springs, and flexible shaft, which are made of non-magnetic stainless steel, the rest of the robot is made of nylon, making it compatible with MRI equipment. However, this interventional robot is only designed for breast intervention and cannot be applied to brain tissue intervention. Furthermore, it uses a lead screw mechanism to adjust the interventional trajectory, which limits the range of adjustable angles.

[0007] Patent document CN110353777A discloses a hydraulically driven differential motion rotary breast intervention robot under MRI. It consists of a positioning module, a puncture module, a rotation module, and a breast tissue fixation module. The positioning module adjusts the position of the biopsy mechanism, the puncture module performs puncture on the breast tissue, the rotation module allows the puncture module to rotate 360° around a breast tissue and adjusts the elevation angle of the biopsy gun, and the breast tissue fixation module stabilizes the breast tissue. However, this design is specifically for breast intervention and cannot be applied to brain tissue intervention. Summary of the Invention

[0008] To address the shortcomings of existing technologies, the purpose of this invention is to provide a remote intervention device and a magnetically compatible remote intervention system.

[0009] A remote intervention device according to the present invention includes a ball joint mechanism, a lead screw and nut mechanism, an intermediate connection mechanism, and a drive mechanism;

[0010] The ball joint mechanism is provided with a human body mounting position. The ball joint mechanism is installed at the end of the lead screw and nut mechanism. The drive mechanism is connected to the lead screw and nut mechanism through an intermediate connecting mechanism.

[0011] The lead screw and nut mechanism is provided with an interventional needle mounting position, which is used to install an interventional needle.

[0012] The drive mechanism can drive the lead screw and nut mechanism through the intermediate connecting mechanism to move the intervention needle and realize the intervention operation;

[0013] Preferably, the ball joint mechanism includes a base, a ball joint, and a locking ring;

[0014] The human body mounting position is set on the base, the ball joint is mounted on the base, and the locking ring is mounted on the base for locking the ball joint;

[0015] The ball joint is a hollow ball joint, and a hollow tube is provided at the end of the ball joint. The hollow tube is connected to the lead screw and nut mechanism.

[0016] Preferably, the lead screw and nut mechanism includes a lead screw base, a nut, a support seat, a bearing, and a lead screw;

[0017] One side of the lead screw base is connected to the hollow tube; a lead screw is installed on the other side of the lead screw base, the nut cooperates with the lead screw, and the nut can move along the length direction of the lead screw;

[0018] The end of the lead screw passes through the support base and is connected to the intermediate connecting mechanism; the lead screw is connected to the support base via a bearing;

[0019] The nut is provided with an intervention needle mounting position, and the screw base is provided with a through hole. The axis of the hollow tube, the through hole, and the position of the intervention needle mounting position correspond to each other.

[0020] Preferably, the intermediate connection mechanism includes a hinge mechanism, which includes universal joint assemblies and connecting pipes arranged alternately in sequence;

[0021] The universal joint assembly at the end is used to connect the connecting pipe and the lead screw and nut mechanism, and the connecting pipe at the end is connected to the drive mechanism.

[0022] Preferably, the drive mechanism includes a flexible shaft, a stepper motor, a driver, a controller, and a power supply;

[0023] Both the power supply and the controller are connected to the driver;

[0024] The driver, stepper motor, and flexible shaft are connected in sequence, and the end of the flexible shaft is connected to the intermediate connecting mechanism.

[0025] Preferably, the human body mounting position is connected to the human body via fasteners.

[0026] Preferably, the universal joint assembly includes two universal forks and a cross shaft;

[0027] The two omnidirectional forks are connected by a cross shaft.

[0028] Preferably, the bearing is made of plastic; the lead screw is made of aluminum alloy.

[0029] Preferably, the connecting pipe is a carbon fiber pipe.

[0030] According to the present invention, a magnetically compatible remote intervention system is characterized in that it employs the remote intervention device described in any one of claims 1-9, and further includes an magnetic resonance chamber and a control room;

[0031] A shielding wall is provided between the magnetic resonance chamber and the control chamber. The main body of the drive mechanism is located in the control chamber. The ball joint mechanism, the lead screw and nut mechanism, and the intermediate connecting mechanism are all located in the magnetic resonance chamber. The end of the drive mechanism passes through the shielding wall and is connected to the end of the intermediate connecting mechanism.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. The present invention has a simple structure, is lightweight, easy to operate, and can be fixed on the patient's head, so that the interventional accuracy is not affected by the patient's involuntary movements.

[0034] 2. The method of adjusting the intervention trajectory of this invention adopts a ball joint mechanism, which is very flexible and has a wider range of adjustable angles. Attached Figure Description

[0035] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0036] Figure 1 This is a schematic diagram of the ball joint mechanism of the present invention;

[0037] Figure 2 This is a schematic diagram of the installation structure of the ball joint mechanism and the lead screw and nut mechanism of the present invention;

[0038] Figure 3 This is a structural schematic diagram of a universal joint assembly;

[0039] Figure 4 This is a schematic diagram of the intermediate connecting mechanism;

[0040] Figure 5 This is a schematic diagram of a magnetically compatible remote intervention system, which includes the remote intervention device.

[0041] The diagram shows:

[0042] Detailed Implementation

[0043] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0044] like Figure 1-5 As shown, the present invention provides a remote intervention device, including a ball joint mechanism 100, a lead screw and nut mechanism 200, an intermediate connecting mechanism 300, and a drive mechanism 400; the ball joint mechanism 100 is provided with a human body mounting position 19, and the ball joint mechanism 100 is mounted at the end of the lead screw and nut mechanism 200; the drive mechanism 400 is connected to the lead screw and nut mechanism 200 through the intermediate connecting mechanism 300; the lead screw and nut mechanism 200 is provided with an intervention needle mounting position 20, which is used to mount an intervention needle; the drive mechanism can drive the lead screw and nut mechanism 200 through the intermediate connecting mechanism 300 to move the intervention needle to realize the intervention operation; the human body mounting position 19 is connected to the human body by fasteners.

[0045] like Figure 1 and 2 As shown, the ball joint mechanism 100 includes a base 1, a ball joint 2, and a locking ring 3; the human body mounting position 19 is disposed on the base 1, the ball joint 2 is mounted on the base 1, and the locking ring 3 is mounted on the base 1 for locking the ball joint 2; the ball joint 2 is a hollow ball joint, and a hollow tube 21 is provided at the end of the ball joint 2, the hollow tube 21 being connected to the lead screw and nut mechanism 200. In a preferred embodiment, the base 1 is made of a plastic material, and an external thread is provided on the base 1, the locking ring locking the ball joint 2 through the external thread.

[0046] like Figure 2 As shown, the lead screw and nut mechanism 200 includes a lead screw base 5, a nut 7, a support seat 8, a bearing 9, and a lead screw 10. One side of the lead screw base 5 is connected to the hollow tube 21. The lead screw 10 is installed on the other side of the lead screw base 5. The nut 7 cooperates with the lead screw, and the nut 7 can move along the length direction of the lead screw 10. The end of the lead screw 10 passes through the support seat 8 and is connected to the intermediate connecting mechanism 300. The lead screw 10 is connected to the support seat 8 through the bearing 9. An intervention needle mounting position 20 is provided on the nut 7, and a through hole is provided on the lead screw base 5. The axis of the hollow tube 21, the through hole, and the position of the intervention needle mounting position 20 correspond to each other. Specifically, the axis of the hollow tube 21, the through hole, and the position of the intervention needle mounting position 20 are located on the same straight line.

[0047] In a preferred embodiment, the lead screw and nut mechanism 200 further includes a guide shaft 6, with both ends of the guide shaft 6 respectively mounted on the lead screw base 5 and the support seat 8. The nut 7 can move along the length direction of the guide shaft 6, and the guide shaft 6 provides guidance for the nut 7.

[0048] like Figure 2 As shown, in a preferred embodiment, the ball joint mechanism 100 further includes a connecting plate 4, and the hollow tube 21 and the lead screw nut mechanism 200 are connected by nylon bolts through the connecting plate 4. Specifically, the hollow tube 21 and the lead screw base 5 are connected by nylon bolts through the connecting plate 4.

[0049] like Figure 3 and Figure 4 As shown, the intermediate connecting mechanism 300 includes a hinge mechanism, which includes universal joint assemblies 22 and connecting pipes 13 arranged alternately in sequence; the universal joint assembly 22 at the end is used for the connection between the connecting pipe 13 and the lead screw and nut mechanism 200. Specifically, the end of the lead screw 10 is connected to the universal joint assembly 22 through the mounting hole of the universal joint assembly 22; the connecting pipe 13 at the end is connected to the driving mechanism 400.

[0050] The universal joint assembly 22 includes two universal forks 11 and a cross shaft 12; the two universal forks 11 are connected to each other by the cross shaft 12, specifically, the two universal forks 11 are connected to the cross shaft 12 by nylon bolts.

[0051] The drive mechanism 400 includes a flexible shaft 14, a stepper motor 15, a driver 16, a controller 17, and a power supply 18; the power supply 18 and the controller 17 are both connected to the driver 16; the driver 16, the stepper motor 15, and the flexible shaft 14 are connected in sequence, and the end of the flexible shaft 14 is connected to the intermediate connecting mechanism 300. Specifically, the end of the flexible shaft 14 is connected to the end connecting tube 13.

[0052] The working principle and process of this invention are as follows:

[0053] The base 1 is fixed to the patient's skull with three titanium alloy screws. The operator adjusts the angle of the ball joint 2 to adjust the intervention trajectory. After adjustment, the locking ring 3 is tightened to fix the ball joint 2. The stepper motor 15 is driven by the driver 16, and the speed and distance of the motor are controlled by the controller 17. The entire drive system is powered by the power supply 18.

[0054] The stepper motor is controlled by the controller. After the controller is set, the stepper motor starts to move at the set speed and distance. The stepper motor transmits torque to the intermediate connecting mechanism 300 through the flexible shaft. The intermediate connecting mechanism 300 drives the lead screw 10 to rotate, thereby driving the nut 7 to start linear motion. At this time, the intervention needle fixed on the nut 7 moves linearly together with the nut 7, thereby realizing the intervention operation.

[0055] The present invention also provides a magnetically compatible remote intervention system, which, using the aforementioned remote intervention device, further includes an magnetic resonance chamber 500 and a control chamber 600;

[0056] A shielding wall 700 is provided between the magnetic resonance chamber 500 and the control chamber 600. The main body of the drive mechanism 400 is located in the control chamber 600. The ball joint mechanism 100, the lead screw and nut mechanism 200 and the intermediate connecting mechanism 300 are all located in the magnetic resonance chamber 500. The end of the drive mechanism 400 passes through the shielding wall 700 and is connected to the end of the intermediate connecting mechanism 300.

[0057] In order to enable the remote intervention device to be used in the magnetic resonance chamber 500, in a preferred embodiment, the bearing 9 is made of plastic, the lead screw 10 is made of aluminum alloy, the guide shaft 6 is made of carbon fiber, and the connecting tube 13 is a carbon fiber tube.

[0058] This invention solves the problem of remote drive intervention by using a lead screw and nut mechanism and an intermediate connecting mechanism 300; it solves the problem of intervention trajectory adjustment by using a ball joint mechanism 100; and it solves the problem of magnetic compatibility of the intervention device by using non-ferromagnetic materials such as resin, plastic, carbon fiber tube and aluminum alloy to process each component and placing the stepper motor drive system in the control room.

[0059] This invention employs a hinge mechanism based on a universal joint assembly. The intermediate connecting mechanism 300 can transmit torque, and the driving mechanism 400 can remotely drive the lead screw and nut mechanism 200 through the intermediate connecting mechanism 300 to perform interventional procedures. This invention uses a ball joint with three degrees of freedom to adjust the interventional trajectory and a lead screw and nut mechanism with one degree of freedom to perform the intervention, giving the remote interventional device a high degree of freedom and allowing for a wide range of adjustment of the interventional needle. Furthermore, this invention can be fixed to the patient, unaffected by the patient's involuntary movements, and the entire system is fully magnetically compatible, operating under a 3.0T magnetic field.

[0060] Compared to patent document CN113893036A, this invention has a simpler structure, lighter weight, and is easier to operate. It is fixed to the patient's head, and the interventional accuracy is not affected by the patient's involuntary movements. Compared to patent document CN103876786A, this invention can target, and primarily targets, interventions in brain tissue. The interventional trajectory adjustment method uses a ball joint mechanism, which is very flexible and has a wider range of adjustable angles.

[0061] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0062] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A remote intervention device, characterized in that, The device comprises a ball hinge mechanism (100), a screw nut mechanism (200), an intermediate connecting mechanism (300) and a driving mechanism (400); The ball hinge mechanism (100) is provided with a human body mounting position (19) and is mounted on the end of the screw nut mechanism (200), and the driving mechanism (400) is connected with the screw nut mechanism (200) through the intermediate connecting mechanism (300); The screw nut mechanism (200) is provided with an interventional needle mounting position (20) for mounting an interventional needle; The driving mechanism can drive the screw nut mechanism (200) through the intermediate connecting mechanism (300) to move the interventional needle to realize the interventional operation.

2. The remote interventional device of claim 1, wherein, The ball hinge mechanism (100) comprises a base (1), a ball hinge (2) and a locking ring (3); The human body mounting position (19) is arranged on the base (1), the ball hinge (2) is mounted on the base (1), and the locking ring (3) is mounted on the base (1) to lock the ball hinge (2); The ball hinge (2) is a hollow ball hinge, the end of the ball hinge (2) is provided with a hollow tube (21), and the hollow tube (21) is connected with the screw nut mechanism (200).

3. The remote interventional device of claim 2, wherein, The screw nut mechanism (200) comprises a screw rod base (5), a nut (7), a support seat (8), a bearing (9) and a screw rod (10); One side of the screw rod base (5) is connected with the hollow tube (21), the other side of the screw rod base (5) is mounted with the screw rod (10), the nut (7) is matched with the screw rod, and the nut (7) can move along the length direction of the screw rod (10); The end of the screw rod (10) penetrates through the support seat (8) and is connected with the intermediate connecting mechanism (300); the screw rod (10) is connected with the support seat (8) through the bearing (9); The nut (7) is provided with an interventional needle mounting position (20), the screw rod base (5) is provided with a through hole, and the positions of the axis of the hollow tube (21), the through hole and the interventional needle mounting position (20) correspond to each other.

4. The remote interventional device of claim 1, wherein, The intermediate connecting mechanism (300) comprises a hinge mechanism, and the hinge mechanism comprises a universal joint assembly (22) and a connecting pipe (13) arranged alternately; The end of the universal joint assembly (22) is used for connecting the connecting pipe (13) and the screw nut mechanism (200), and the end of the connecting pipe (13) is connected with the driving mechanism (400).

5. The remote interventional device of claim 1, wherein, The driving mechanism (400) comprises a flexible shaft (14), a stepping motor (15), a driver (16), a controller (17) and a power supply (18); The power supply (18) and the controller (17) are connected with the driver (16); The driver (16), the stepping motor (15) and the flexible shaft (14) are connected in sequence, and the end of the flexible shaft (14) is connected with the intermediate connecting mechanism (300).

6. The remote interventional device of claim 1, wherein, The human body mounting position (19) is connected with the human body through a fastener.

7. The remote interventional device of claim 4, wherein, The universal joint assembly (22) comprises two universal forks (11) and a cross shaft (12). The two universal forks (11) are connected by a cross shaft (12).

8. The remote interventional device of claim 3, wherein, The bearing (9) is made of plastic; the screw rod (10) is made of aluminum alloy.

9. The remote interventional device of claim 4, wherein, The connecting pipe (13) is a carbon fiber pipe.

10. A magnetically compatible tele-interventional system, characterized in that, The remote intervention device of any one of claims 1-9, further comprising a magnetic resonance room (500) and a control room (600); The magnetic resonance room (500) and the control room (600) are provided with a shielding wall (700), a main body part of the driving mechanism (400) is arranged in the control room (600), the spherical hinge mechanism (100), the screw rod nut mechanism (200), and the intermediate connecting mechanism (300) are all arranged in the magnetic resonance room (500), and an end part of the driving mechanism (400) is connected with an end part of the intermediate connecting mechanism (300) through the shielding wall (700).

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