Brain focus target puncture positioning device and method

Abstract

Relates to the field of medical equipment, and discloses a brain focus target puncture positioning device which comprises a fixed seat fixed on a sickbed, a positioning piece arranged at the upper end of the fixed seat, a mechanical arm and a puncture needle arranged on the mechanical arm, and further comprises a puncture unit arranged on the mechanical arm and connected with the puncture needle; the puncture unit comprises a protective cylinder; an adjusting member; a fixing member; the adjusting piece is arranged on the inner side of the protection barrel and is symmetrical about the puncture needle; the sealing element is arranged at the lower end of the protective cylinder; the transmission part is arranged on the inner bottom wall of the protection cylinder and adjacent to the sealing part, it is ensured that the puncture needle is accurately aligned with and penetrates into a preset brain focus target spot, the puncture precision and success rate are greatly improved, the puncture needle is protected through the sealing part, accidental damage to surrounding brain tissue is avoided in the puncture process, and the puncture effect is improved. And the safety of the operation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a device and method for puncturing and locating a target point of a brain lesion. Background Art

[0002] In modern medical technology, accurate diagnosis and treatment of brain lesions are crucial to improving patient survival and quality of life. Brain lesion target puncture technology is an important means to directly sample brain lesion tissue, inject drugs or perform treatment operations. However, due to the complexity and sensitivity of brain structure, the puncture process requires extremely high precision and stability to avoid damage to surrounding normal brain tissue.

[0003] Existing equipment has the following shortcomings: Traditional brain puncture surgery mainly relies on the doctor's experience and manual operation, which increases the risk and uncertainty of the operation to a certain extent. With the continuous development of medical robot technology, more and more researchers have begun to explore the application of robot technology in brain puncture surgery to improve the accuracy and safety of the operation. Traditional positioning devices have certain defects in protecting the puncture needle. When the puncture needle is aligned with the patient's puncture point, it is easy to collide with the outside world, the needle is easy to break and be damaged, and there is a risk of accidentally injuring the patient or medical staff when the needle moves.

[0004] Therefore, the present application proposes a brain lesion target puncture positioning device and method to solve the above-mentioned problems. Summary of the invention

[0005] The purpose of the present invention is to provide a device and method for puncturing and locating a target brain lesion, so as to solve the problem that the above-mentioned traditional brain puncture surgery mainly relies on the doctor's experience and manual operation, which increases the risk and uncertainty of the surgery to a certain extent.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a brain lesion target puncture positioning device, comprising a fixing seat fixed on a bed, a positioning member arranged at the upper end of the fixing seat for fixing the patient's head, a mechanical arm and a puncture needle arranged on the mechanical arm, and further comprising: a puncture unit, arranged on the mechanical arm and connected to the puncture needle, for puncturing the puncture needle into the patient's head; The puncture unit comprises: A protective cylinder, arranged on the mechanical arm, for protecting the puncture needle; An adjusting member, arranged on the inner wall of the protective tube, for adjusting the installation position of the puncture needle; A fixing member, disposed at the upper end of the adjusting member and connected to the puncture needle, for fixing the puncture needle; An adjusting member, arranged inside the protective tube and symmetrically arranged with respect to the puncture needle, for driving the puncture needle to penetrate into the patient's head; A sealing member, arranged at the lower end of the protective tube, for protecting the needle tip of the puncture needle; The transmission member is arranged on the inner bottom wall of the protective tube and is adjacent to the sealing member.

[0007] Among them, the adjusting member includes a connecting frame fixed on the inner wall of the protective tube, a second power member fixed on the connecting frame, a slider arranged at the power output end of the second power member and a slide rail arranged on the inner wall of the protective tube, the slider is slidably mounted on the slide rail, and the lower end of the slider is connected to the transmission member.

[0008] Among them, the transmission member includes a connecting plate fixed at the lower end of the slider, a first rack fixed at the lower end of the connecting plate, a mounting bracket fixed on the inner bottom wall of the protective tube, a connecting shaft fixed on the mounting bracket, a gear sleeved on the connecting shaft and a second rack arranged on the sealing member, the first rack and the second rack are both meshed and connected with the gear, the first rack and the second rack are vertically arranged, and the second rack is located on the inner side of the first rack.

[0009] Among them, the fixing part includes a fixing rod fixed to the upper end of the connecting plate, a fixing plate fixed to the upper end of the fixing rod, a first power part fixed to the fixing plate and a fixing clamp fixed to the power output end of the first power part, the puncture needle is fixed between the two fixing clamps, a connecting block is fixed on the puncture needle, and a fixing groove for fixing the connecting block is provided on the fixing clamp.

[0010] Wherein, the sealing member comprises a limit frame fixed on the inner bottom wall of the protective tube and having an upper opening, and a protective plate slidably connected to the upper end of the limit frame, and the second rack is fixed on the upper end of the protective plate.

[0011] Wherein, a limiting block is arranged at the position where the protective plate is connected to the limiting frame, and a limiting groove for the limiting block to move is opened on the limiting frame.

[0012] Wherein, a puncture hole for the puncture needle to move is formed at a position of the protective tube located inside the limiting frame, and a through hole for the first rack to move is formed at a position of the protective tube corresponding to the first rack.

[0013] Wherein, a fixing ring is provided on the mechanical arm, and the protective tube is detachably fixed inside the fixing ring.

[0014] Wherein, the positioning member includes a mounting ring fixed on the upper end of the fixing seat, a screw threadedly connected to the mounting ring, and an extrusion block fixed on one side of the screw located inside the mounting ring, and the extrusion block abuts against the patient's head.

[0015] A method for puncturing and locating a target point of a brain lesion, used for operating the above-mentioned device for puncturing and locating a target point of a brain lesion, comprises the following steps: S1: The patient's head is placed in the positioning piece for fixing, and then the puncture needle is fixed inside the puncture unit. The position of the puncture needle is adjusted by the robotic arm so that the injection end of the puncture needle is aligned with the injection point on the patient's head, thereby completing the positioning of the puncture needle.

[0016] S2: The fixing member fixes the puncture needle at the center of the protective tube, and then the adjusting member is started to move the fixing member downward, driving the puncture needle to pass through the puncture hole. When the puncture needle is positioned, the sealing member seals the puncture hole to protect the needle tip of the puncture needle.

[0017] S3: When the adjusting member drives the puncture needle downward, it contacts the transmission member, drives the transmission member to move, so that the transmission member opens the sealing member, and then the puncture hole is opened, and then the puncture needle can pass through the puncture hole and then penetrate into the patient's head.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The present invention can ensure that the puncture needle is accurately aligned with and penetrates the predetermined brain lesion target, thereby greatly improving the accuracy and success rate of puncture. The puncture needle is protected by a seal, and accidental damage to surrounding brain tissue is avoided during the puncture process, while the risk of infection is reduced, thereby improving the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the main structure in one embodiment of the present invention; Figure 2 It is a schematic structural diagram of an embodiment of the present invention in a front view; Figure 3 It is a schematic diagram of a side view of a structure in one embodiment of the present invention; Figure 4 This is a schematic diagram of the structure inside the protective tube in one embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a puncture unit in one embodiment of the present invention; Figure 6 It is a structural schematic diagram of the movement of a transmission member in one embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the puncture unit fixing the puncture needle in one embodiment of the present invention; Figure 8It is a schematic diagram of the structure in which the puncture unit drives the puncture needle to move fixedly in one embodiment of the present invention; Fig. 9 for Figure 4 Schematic diagram of the structure with the A part in the middle enlarged.

[0020] In the figure: 1, fixing seat; 2, positioning member; 21, mounting ring; 22, screw; 23, extrusion block; 3, mechanical arm; 4, puncture needle; 41, connecting block; 5, puncture unit; 51, fixing ring; 52, protective tube; 521, perforation; 53, fixing member; 531, fixing plate; 532, first power member; 533, fixing clamp; 5331, fixing groove; 534, fixing rod; 54, adjusting member; 541, connecting frame; 542, second power member; 543, slider; 544, slide rail; 55, transmission member; 551, connecting plate; 552, first rack; 553, gear; 554, connecting shaft; 555, mounting frame; 556, second rack; 56, sealing member; 561, limiting frame; 5611, limiting groove; 562, protective plate; 5621, limiting block; 57, puncture hole. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] See also Figure 1-9 The present invention provides a technical solution: a brain lesion target puncture positioning device, comprising a fixing seat 1 fixed on a bed, a positioning member 2 arranged at the upper end of the fixing seat 1 for fixing the patient's head, a mechanical arm 3 and a puncture needle 4 arranged on the mechanical arm 3, and also comprising: The puncture unit 5 is arranged on the mechanical arm 3 and connected to the puncture needle 4, and is used to puncture the puncture needle 4 into the patient's head; The puncture unit 5 comprises: A protective tube 52, provided on the mechanical arm 3, for protecting the puncture needle 4; An adjusting member 54 is provided on the inner wall of the protective tube 52 and is used to adjust the installation position of the puncture needle 4; The fixing member 53 is arranged at the upper end of the adjusting member 54 and connected to the puncture needle 4, and is used to fix the puncture needle 4; The adjusting member 54 is arranged inside the protective tube 52 and symmetrically arranged with respect to the puncture needle 4, and is used for driving the puncture needle 4 to penetrate into the patient's head; A sealing member 56 is provided at the lower end of the protective tube 52 and is used to protect the needle tip of the puncture needle 4; The transmission member 55 is disposed on the inner bottom wall of the protective tube 52 and is adjacent to the sealing member 56 .

[0023] It should be noted that, during operation, the patient's head is placed on the positioning member 2 for fixing, and then the puncture needle 4 is fixed inside the puncture unit 5, and then the position of the puncture needle 4 is adjusted by the mechanical arm 3 so that the injection end of the puncture needle 4 is aligned with the injection point on the patient's head, and the positioning of the puncture needle 4 is completed. The fixing member 53 fixes the puncture needle 4 at the center position of the protective tube 52, and then the adjusting member 54 is started to drive the fixing member 53 to move downward, and drive the puncture needle 4 to pass through the puncture hole 57, and when the puncture needle 4 is positioned, the sealing member 56 seals the puncture hole 57, and the needle head of the puncture needle 4 is For protection, during the process of the adjusting member 54 driving the puncture needle 4 to move downward, the adjusting member 54 contacts the transmission member 55, driving the transmission member 55 to move, so that the transmission member 55 opens the sealing member 56, and then the puncture hole 57 is opened, and then the puncture needle 4 can pass through the puncture hole 57 and then penetrate into the patient's head, which can ensure that the puncture needle 4 is accurately aligned with and penetrates the predetermined brain lesion target, thereby greatly improving the accuracy and success rate of the puncture, and using the sealing member 56 to protect the puncture needle 4, avoiding accidental damage to the surrounding brain tissue during the puncture process, while reducing the risk of infection and improving the safety of the operation.

[0024] In one embodiment, the adjusting member 54 includes a connecting frame 541 fixed on the inner wall of the protective tube 52, a second power member 542 fixed on the connecting frame 541, a slider 543 arranged at the power output end of the second power member 542 and a slide rail 544 arranged on the inner wall of the protective tube 52, the slider 543 is slidably sleeved on the slide rail 544, and the lower end of the slider 543 is connected to the transmission member 55, and the second power member 542 includes but is not limited to a hydraulic cylinder, a linear guide rail, an electric push rod and a cylinder.

[0025] This design, see Figure 5 The second power member 542 pushes the slider 543 to move up and down on the slide rail 544, and then drives the transmission member 55 at the lower end of the slider 543 to move downward. The slide rail 544 provides a clear path, so that the slider 543 can move along a predetermined trajectory, thereby ensuring that the transmission member 55 connected thereto can accurately adjust its position.

[0026] In one embodiment, the transmission member 55 includes a connecting plate 551 fixed to the lower end of the slider 543, a first rack 552 fixed to the lower end of the connecting plate 551, a mounting frame 555 fixed to the inner bottom wall of the protective tube 52, a connecting shaft 554 fixed to the mounting frame 555, a gear 553 sleeved on the connecting shaft 554 and a second rack 556 arranged on the sealing member 56, the first rack 552 and the second rack 556 are both meshed and connected with the gear 553, the first rack 552 and the second rack 556 are vertically arranged, and the second rack 556 is located on the inner side of the first rack 552.

[0027] This design, see Figure 5 ,as well as Figure 6 When the slider 543 moves downward, it will drive the first rack 552 to move downward, and then drive the second rack 556 to move in the vertical direction through the gear 553, so that the second rack 556 drives the sealing member 56 to open the lower end of the protective tube 52, and the adjusting member 54 and the sealing member 56 are linked through the transmission member 55, so that when the puncture needle 4 moves downward, the sealing member 56 can open the lower end of the protective tube 52, and then the puncture needle 4 extends from the protective tube 52, and the protective tube 52 and the sealing member 56 are used to protect the puncture needle 4, thereby avoiding accidental damage to the surrounding brain tissue during the puncture process, reducing the risk of infection, and improving the safety of the operation.

[0028] In one embodiment, the fixing member 53 includes a fixing rod 534 fixed to the upper end of the connecting plate 551, a fixing plate 531 fixed to the upper end of the fixing rod 534, a first power member 532 fixed to the fixing plate 531, and a fixing clamp 533 fixed to the power output end of the first power member 532. The puncture needle 4 is fixed between the two fixing clamps 533. A connecting block 41 is fixed to the puncture needle 4. A fixing groove 5331 for fixing the connecting block 41 is provided on the fixing clamp 533. The first power member 532 includes but is not limited to a hydraulic cylinder, a linear guide rail, an electric push rod and a cylinder.

[0029] This design, see Figure 6 , place the connecting block 41 in the fixing groove 5331 on the fixing clip 533, then start the first power piece 532 to drive the two fixing clips 533 to move toward the center position close to the protective tube 52 to fix the puncture needle 4. The fixing groove 5331 provided on the fixing clip 533 can accurately fix the connecting block 41 on the puncture needle 4, ensuring the accurate position of the puncture needle 4 in the fixing piece 53, thereby improving the accuracy and reliability of subsequent operations. By driving the fixing clip 533 with the first power piece 532, the puncture needle 4 can be easily fixed and released, which simplifies the operation steps and improves the work efficiency.

[0030] In one embodiment, the seal 56 includes a limit frame 561 fixed on the inner bottom wall of the protective tube 52 and having an upper opening, and a protective plate 562 slidably connected to the upper end of the limit frame 561 , and the second rack 556 is fixed to the upper end of the protective plate 562 .

[0031] This design, see Figure 5-8 The gear 553 meshes with the second rack 556 to drive the two protective plates 562 to move away from each other, and then the limiting frame 561 is connected to the puncture hole 57 at the lower end, which can facilitate the puncture needle 4 to pass through the inside of the protective tube 52.

[0032] In one embodiment, a limiting block 5621 is disposed at the position where the protective plate 562 is connected to the limiting frame 561 , and a limiting groove 5611 for the limiting block 5621 to move is formed on the limiting frame 561 .

[0033] This design, see Fig. 9 The close fit between the limiting block 5621 and the limiting groove 5611 ensures the stable sliding and precise positioning of the protective plate 562 on the limiting frame 561, effectively prevents the shaking or deviation of the protective plate 562, and improves the stability of the overall structure.

[0034] In one embodiment, the protective tube 52 is provided with a puncture hole 57 for the puncture needle 4 to move at a position located inside the limiting frame 561 , and the protective tube 52 is provided with a through hole 521 for the first rack 552 to move at a position corresponding to the first rack 552 .

[0035] This design, see Figure 8 By opening the puncture hole 57 on the protective tube 52, a precise and stable moving channel is provided for the puncture needle 4, ensuring the accuracy and linearity of the puncture needle 4 during the movement, thereby improving the accuracy and reliability of the puncture operation. The design of the perforation 521 allows the first rack 552 to pass freely when needed, thereby achieving smooth coordination with other transmission components.

[0036] In one embodiment, a fixing ring 51 is provided on the robot arm 3 , and the protective tube 52 is detachably fixed inside the fixing ring 51 .

[0037] This design, see Figure 4 ,as well as Figure 5 The protective tube 52 is detachably fixed inside the fixing ring 51, which is convenient for quickly installing or removing the protective tube 52 according to actual needs, thereby improving the adaptability and flexibility of the robot arm 3. When the protective tube 52 needs to be maintained or replaced, it can be easily removed from the fixing ring 51.

[0038] In one embodiment, the positioning member 2 includes a mounting ring 21 fixed to the upper end of the fixing seat 1, a screw 22 threadedly connected to the mounting ring 21, and an extrusion block 23 fixed to the screw 22 on one side inside the mounting ring 21, and the extrusion block 23 abuts against the patient's head.

[0039] This design, see Figure 1-4 Through threaded connection, the screw 22 can be firmly mounted on the mounting ring 21. By adjusting the position of the screw 22 on the mounting ring 21, the squeezing block 23 squeezes and fixes the patient's head, thereby achieving stable fixation of the patient's head and preventing it from moving, thereby ensuring the accuracy and safety of medical operations.

[0040] A method for puncturing and locating a target point of a brain lesion, used for operating the above-mentioned device for puncturing and locating a target point of a brain lesion, comprises the following steps: S1: The patient's head is placed on the positioning member 2 for fixing, and then the puncture needle 4 is fixed inside the puncture unit 5. The position of the puncture needle 4 is adjusted by the robotic arm 3 so that the injection end of the puncture needle 4 is aligned with the injection point of the patient's head, thereby completing the positioning of the puncture needle 4.

[0041] S2: The fixing member 53 fixes the puncture needle 4 at the center position of the protective tube 52, and then the adjusting member 54 is started to drive the fixing member 53 to move downward, driving the puncture needle 4 to pass through the puncture hole 57, and when the puncture needle 4 is positioned, the sealing member 56 seals the puncture hole 57 to protect the needle tip of the puncture needle 4.

[0042] S3: When the adjusting member 54 drives the puncture needle 4 to move downward, the adjusting member 54 contacts the transmission member 55, drives the transmission member 55 to move, so that the transmission member 55 opens the sealing member 56, and then the puncture hole 57 is opened, and then the puncture needle 4 can pass through the puncture hole 57 and then penetrate into the patient's head.

[0043] In addition, if there are descriptions involving "first", "second", etc. in the embodiments, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying the importance of the relative description or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

Claims

1. A brain lesion target puncture positioning device, comprising a fixing seat (1) fixed on a bed, a positioning member (2) arranged at the upper end of the fixing seat (1) for fixing the patient's head, a mechanical arm (3) and a puncture needle (4) arranged on the mechanical arm (3), characterized in that: Also includes: a puncture unit (5), arranged on the mechanical arm (3) and connected to the puncture needle (4), and used for piercing the puncture needle (4) into the patient's head; The puncture unit (5) comprises: A protective tube (52) is arranged on the mechanical arm (3) and is used to protect the puncture needle (4); an adjusting member (54), arranged on the inner wall of the protective tube (52), and used for adjusting the installation position of the puncture needle (4); A fixing member (53), arranged at the upper end of the adjusting member (54) and connected to the puncture needle (4), and used for fixing the puncture needle (4); An adjusting member (54) is arranged on the inner side of the protective tube (52) and symmetrically arranged with respect to the puncture needle (4), and is used for driving the puncture needle (4) to penetrate into the head of a patient; A sealing member (56) is disposed at the lower end of the protective tube (52) and is used to protect the needle tip of the puncture needle (4); A transmission member (55) is arranged on the inner bottom wall of the protective tube (52) and is adjacent to the sealing member (56).

2. A brain lesion target puncture positioning device according to claim 1, characterized in that: The adjusting member (54) comprises a connecting frame (541) fixed on the inner wall of the protective tube (52), a second power member (542) fixed on the connecting frame (541), a slider (543) arranged at the power output end of the second power member (542), and a slide rail (544) arranged on the inner wall of the protective tube (52); the slider (543) is slidably mounted on the slide rail (544); and the lower end of the slider (543) is connected to the transmission member (55).

3. A brain lesion target puncture positioning device according to claim 2, characterized in that: The transmission member (55) comprises a connecting plate (551) fixed to the lower end of the sliding block (543), a first rack (552) fixed to the lower end of the connecting plate (551), a mounting frame (555) fixed to the inner bottom wall of the protective tube (52), a connecting shaft (554) fixed to the mounting frame (555), a gear (553) sleeved on the connecting shaft (554) and a second rack (556) arranged on the sealing member (56), the first rack (552) and the second rack (556) are both meshed and connected with the gear (553), the first rack (552) and the second rack (556) are arranged vertically, and the second rack (556) is located on the inner side of the first rack (552).

4. A brain lesion target puncture positioning device according to claim 3, characterized in that: The fixing member (53) comprises a fixing rod (534) fixed to the upper end of the connecting plate (551), a fixing plate (531) fixed to the upper end of the fixing rod (534), a first power member (532) fixed to the fixing plate (531), and a fixing clamp (533) fixed to the power output end of the first power member (532); the puncture needle (4) is fixed between the two fixing clamps (533); a connecting block (41) is fixed to the puncture needle (4); and a fixing groove (5331) for fixing the connecting block (41) is provided on the fixing clamp (533).

5. The device for puncturing and localizing a target brain lesion according to claim 3, characterized in that: The sealing member (56) comprises a limiting frame (561) fixed on the inner bottom wall of the protective tube (52) and having an upper opening, and a protective plate (562) slidably connected to the upper end of the limiting frame (561), and the second rack (556) is fixed to the upper end of the protective plate (562).

6. A brain lesion target puncture positioning device according to claim 5, characterized in that: A limiting block (5621) is provided at the position where the protective plate (562) is connected to the limiting frame (561), and a limiting groove (5611) for the limiting block (5621) to move is provided on the limiting frame (561).

7. A brain lesion target puncture positioning device according to claim 5, characterized in that: The protective tube (52) is provided with a puncture hole (57) for the puncture needle (4) to move at a position located inside the limiting frame (561), and the protective tube (52) is provided with a perforation (521) for the first rack (552) to move at a position corresponding to the first rack (552).

8. The device for puncturing and localizing a target brain lesion according to claim 1, characterized in that: The mechanical arm (3) is provided with a fixing ring (51), and the protective tube (52) is detachably fixed inside the fixing ring (51).

9. The device for puncturing and localizing a target brain lesion according to claim 1, characterized in that: The positioning member (2) comprises a mounting ring (21) fixed to the upper end of the fixing seat (1), a screw rod (22) threadedly connected to the mounting ring (21), and an extrusion block (23) fixed to the screw rod (22) on one side inside the mounting ring (21), wherein the extrusion block (23) abuts against the patient's head.

10. A method for puncturing and locating a target brain lesion according to claim 1, used to operate a device for puncturing and locating a target brain lesion according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1: The patient's head is placed in the positioning member (2) for fixation, and then the puncture needle (4) is fixed inside the puncture unit (5), and then the position of the puncture needle (4) is adjusted by the mechanical arm (3) so that the injection end of the puncture needle (4) is aligned with the injection point on the patient's head, thereby completing the positioning of the puncture needle (4); S2: The fixing member (53) fixes the puncture needle (4) at the center position of the protective tube (52), and then the adjusting member (54) is activated to drive the fixing member (53) to move downward, thereby driving the puncture needle (4) to pass through the puncture hole (57). When the puncture needle (4) is positioned, the sealing member (56) seals the puncture hole (57), thereby protecting the needle tip of the puncture needle (4); S3: When the adjusting member (54) drives the puncture needle (4) to move downward, the adjusting member (54) contacts the transmission member (55), drives the transmission member (55) to move, and causes the transmission member (55) to open the sealing member (56), and then the puncture hole (57) is opened, and then the puncture needle (4) can pass through the puncture hole (57) and then penetrate into the patient's head.

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