Intracranial hematoma minimally invasive removal orientator and positioning method

Abstract

The invention discloses an intracranial hematoma minimally invasive removal orientator and a positioning method, and relates to the technical field of medical instruments. The device body comprises a fixing assembly used for stable positioning, a clamping assembly connected with the device body, a guiding device connected with the clamping assembly and a limiting assembly connected with the guiding device. After the device body, the clamping assembly and the puncture frame are positioned and clamped, a proper puncture needle is selected to penetrate into a hole of the puncture frame, the selected puncture needle is stably inserted into the skull along a set route, a strain gauge sensor detects the initial positioning position in real time, and when the error exceeds the distance of 1-2 mm, an alarm is given in time through an alarm, so that the puncture needle is prevented from being damaged. And a surgical operator is reminded of the positioning error exceeding the allowable range of the current puncture operation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and specifically relates to a minimally invasive intracranial hematoma removal orientator and a positioning method. Background Technique

[0002] In current surgical operations, especially those with extremely high requirements for positioning accuracy such as minimally invasive intracranial hematoma removal, accurately determining the position of the lesion site in the patient's body relative to the external fixation device and surgical instruments is crucial;

[0003] Existing fixation devices can play a certain role in the initial positioning of patients, but during the actual surgical operation, the patient may move due to inevitable factors (such as unconscious body movements under anesthesia, slight twisting due to pain stimulation during the operation, etc.), and the existing fixation devices cannot accurately reposition the moved patient in real time. As a result, when the surgical instruments operate based on the original positioning information, large errors will occur, seriously affecting the accuracy of the operation, increasing the surgical risk and the possibility of postoperative complications, and reducing the surgical success rate and the prognosis quality of the patient;

[0004] Therefore, we propose a minimally invasive intracranial hematoma removal orientator and a positioning method. Summary of the Invention

[0005] The purpose of the present invention is to provide a minimally invasive intracranial hematoma removal orientator and a positioning method.

[0006] To solve the problems raised in the above background technique, the present invention provides the following technical solutions: a minimally invasive intracranial hematoma removal orientator and a positioning method, including a device main body, and the device main body includes a fixing component for stable positioning, a clamping component connected to the device main body, a guiding device connected to the clamping component, and a limiting component connected to the guiding device;

[0007] The guiding device includes a frame structure, grooves, first sliding rods, slider two, stable lifting rods, a receiving block, and a puncture frame. Two of the grooves are opened on the frame structure, and two of the first sliding rods are respectively fixed inside the two grooves. The slider two is slidably connected to the first sliding rods. A sliding plate is fixed to the outside of the two slider twos, and the sliding plate is fixed to the stable lifting rods. Connecting frames are fixed to both sides of the front part of the frame structure, and the stable lifting rods are fixed inside the connecting frames;

[0008] Chute one is opened on both sides of the middle part of the frame structure. Second sliding rods are arranged inside the two chute ones. Slider three slides on both of the second sliding rods. The receiving block is fixed between the two slider threes. The puncture frame is fixed to the back of the receiving block. Limiting plates are arranged on one side of the two slider twos away from the sliding plate. The puncture frame is fixed between the two limiting plates;

[0009] On one side of the interior of the puncture frame that is opposite to each other, an optical fiber sensor is provided, and two micro optical tracking sensors are fixed on the top of the frame structure.

[0010] As a further solution of the present invention: The fixing component includes a bottom plate, a first connecting plate, and a C-shaped fastening plate body. The first connecting plates are respectively fixed at the left and right ends of the bottom plate. Two positioning bolts are tightly connected to each of the two first connecting plates. Two symmetrically arranged receiving grooves are formed at the bottom of the bottom plate. A rotating column is rotatably connected to one side of the receiving groove. The C-shaped fastening plate body is fixed on the rotating column, and a fastening bolt is provided on the C-shaped fastening plate body.

[0011] As a further solution of the present invention: The clamping component includes a fixed frame, a second chute, a first clamping plate, a scale, a resisting ring, and a strain gauge sensor. The second chute is formed inside the fixed frame. Clamping motors are provided on both sides inside the fixed frame. Screws are fixedly connected to each of the two clamping motors. A first slider is threadedly connected to the screw. The first clamping plate is fixed on the first slider. The lower end of the scale is fixedly connected to the upper end of the first clamping plate. The resisting ring is fixed on the clamping side of the first clamping plate, and the strain gauge sensor is fixed inside the resisting ring. Pulling rings are fixed on the outside of each of the two fixed frames.

[0012] As a further solution of the present invention: Alarm devices are provided on both sides of the top of the bottom plate, and a processor is fixed on the front of the frame structure.

[0013] As a further solution of the present invention: Two micro optical tracking sensors are fixedly connected to the top surface of the frame structure, and a hole for the puncture needle to pass through is formed inside the puncture frame.

[0014] As a further solution of the present invention: The limiting component includes a third chute, a second connecting plate, a hydraulic rod, and a limiting resisting plate. The two third chutes are respectively formed on both sides inside the puncture frame. A fourth slider slides inside the third chute. The second connecting plate is fixed between the two fourth sliders. The hydraulic rod is fixed at the lower end of the second connecting plate. The upper end of the limiting resisting plate is fixed at the lower end of the hydraulic rod.

[0015] As a further solution of the present invention: The processor is electrically connected to the alarm device, the micro optical tracking sensor, and the optical fiber sensor respectively.

[0016] The present invention also provides a positioning method for the intracranial hematoma minimally invasive removal orientator, including the following steps:

[0017] Step 1, rotate the rotating column out of the interior of the receiving groove through the first connecting plates on both sides of the fixing component of the device main body to complete the fixation of the device main body;

[0018] Step 2: Place the patient's head between the clamping components. At this time, the processor starts the clamping motor to drive the slider 1 on the screw rod and the clamping plate 1 to move left and right, and at the same time drives the abutting ring and the strain gauge sensor to move left and right for adjustment. When the height of the clamping components needs to be adjusted, the processor starts the stable lifting rod to complete the height adjustment of the clamping components;

[0019] Step 3: The puncture frame moves up and down along the second sliding rod within the frame structure, and the slider 2 drives the sliding plate to slide on the first sliding rod, thereby driving the combined lifting of the puncture frame and the clamping components;

[0020] Step 4: The strain gauge sensor arranged inside the clamping components records the initial positioning position. After the device body, the clamping components, and the puncture frame are positioned and clamped, select a puncture needle to penetrate into the hole of the puncture frame. During the puncture process, the strain gauge sensor detects the position of the initial positioning. When the error exceeds a distance of 1 mm - 2 mm, an alarm is issued through the alarm to complete the reminder of the positioning error in the current puncture operation by the surgical operator.

[0021] Adopting the above technical solution, compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] 1. The present invention records the initial positioning position through the strain gauge sensor. After the device body, the clamping components, and the puncture frame are positioned and clamped, select a suitable puncture needle to penetrate into the hole of the puncture frame, and insert the selected puncture needle smoothly into the skull along the established route. The strain gauge sensor detects the position of the initial positioning in real time. When the error exceeds a distance of 1 mm - 2 mm, an alarm is promptly issued through the alarm to promptly remind the surgical operator that there is a positioning error beyond the allowable range in the current puncture operation, so that the operator can quickly make corresponding adjustment measures, thereby ensuring the accuracy of the puncture process and the safety of the operation to the greatest extent and facilitating the improvement of the accuracy of the operation;

[0023] 2. The clamping motor drives the slider 1 on the screw rod and the clamping plate 1 to move left and right, and at the same time drives the abutting ring and the strain gauge sensor to move left and right for adjustment. The processor starts the stable lifting rod to adjust the height of the clamping components. The puncture frame moves up and down smoothly along the second sliding rod within the frame structure, and the slider 2 drives the sliding plate to slide stably on the first sliding rod, thereby driving the combined lifting of the puncture frame and the clamping components, which is convenient for improving the stability of clamping and positioning, improving the accuracy of clamping and puncture, and reducing the risk of surgical injury;

[0024] 3. By setting positioning bolts on both sides of the frame structure to fasten the device body, and at the same time rotating the rotating column to turn the C-shaped fastening plate out of the outside of the receiving groove and using a fastening bolt for fastening connection, by setting these two fixing methods, it is convenient for this fixing component to be used in various application scenarios. Description of the Drawings

[0025] Figure 1 It is a first stereoscopic schematic diagram in an embodiment of the present invention;

[0026] Figure 2 is a second stereoscopic schematic diagram of an embodiment of the present invention;

[0027] Figure 3 is a three-dimensional schematic diagram of a clamping assembly in an embodiment of the present invention;

[0028] Figure 4 for Figure 3 Schematic diagram at A in the middle;

[0029] Figure 5 is a three-dimensional schematic diagram of a fixing assembly in an embodiment of the present invention;

[0030] Figure 6 It is a schematic diagram of the three-dimensional structure of the guide device in an embodiment of the present invention;

[0031] Figure 7 for Figure 6 Schematic diagram at A in the middle;

[0032] Figure 8 Schematic diagram of the connection structure of the puncture frame, the limit rod and the slider 4 in the embodiment of the present invention;

[0033] Figure 9 It is a three-dimensional schematic diagram of a clamping assembly in an embodiment of the present invention.

[0034] In the figure: 1. Device body; 2. Fixing assembly; 21. Connecting plate 1; 22. Storage slot; 23. Rotating column; 24. C-shaped fastening plate; 25. Fastening bolt; 3. Frame structure;

[0035] 4. Clamping assembly; 41. Clamping motor; 42. Screw; 43. Slider 1; 44. Clamping plate 1; 45. Scale; 46. Snap ring; 47. Strain gauge sensor;

[0036] 5. Siren; 6. Micro optical tracking sensor;

[0037] 7. Guide device; 71. First slide bar; 72. Slide bar 2; 73. Slide plate; 74. Stable lifting rod; 75. Second slide bar; 76. Slide bar 3; 77. Accepting block; 78. Puncture frame; 79. Limiting plate;

[0038] 8. Limiting assembly; 81. Slider 4; 82. Connecting plate 2; 83. Hydraulic rod; 84. Limiting plate; 85. Optical fiber sensor. DETAILED DESCRIPTION

[0039] The following further describes the specific embodiments of the present invention in conjunction with the accompanying drawings. It should be noted here that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation to the present invention.

[0040] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0041] Please refer to the attached Figure 1 - attached Figure 9 For a minimally invasive intracranial hematoma removal orientator of the present invention, it includes a device main body 1. The device main body 1 includes a fixing component 2 for stable positioning, a clamping component 4 connected to the device main body 1, a guiding device 7 connected to the clamping component 4, and a limiting component 8 connected to the guiding device 7.

[0042] The guiding device 7 includes a frame structure 3, grooves, first sliding rods 71, slider two 72, stable lifting rods 74, a receiving block 77, and a puncture frame 78. Two grooves are opened on the frame structure 3. Two first sliding rods 71 are respectively fixed inside the two grooves. The slider two 72 is slidably connected to the first sliding rods 71. A sliding plate 73 is fixed to the outside of the two slider two 72. The sliding plate 73 is fixed on the stable lifting rod 74. Connecting frames are fixed on both sides of the front part of the frame structure 3. The stable lifting rod 74 is fixed inside the connecting frames.

[0043] Chute one is opened on both sides of the middle part of the frame structure 3. Second sliding rods 75 are arranged inside the two chute one. Slider three 76 slides on the two second sliding rods 75. The receiving block 77 is fixed between the two slider three 76. The puncture frame 78 is fixed behind the receiving block 77. Limiting plates 79 are arranged on one side of the two slider two 72 away from the sliding plate 73. The puncture frame 78 is fixed between the two limiting plates 79.

[0044] Optical fiber sensors 85 are arranged on the opposite inner side surfaces of the puncture frame 78. Two micro optical tracking sensors 6 are fixed on the top of the frame structure 3.

[0045] In an embodiment of the present invention: The fixing component 2 includes a bottom plate, a connecting plate one 21, and a C-shaped fastening plate body 24. The connecting plate one 21 is fixed to the left and right ends of the bottom plate. Two positioning bolts are fastened and connected to the two connecting plate one 21. Two symmetrically arranged receiving grooves 22 are opened at the bottom of the bottom plate. A rotating column 23 is rotatably connected to one side of the receiving groove 22. The C-shaped fastening plate body 24 is fixed to the rotating column 23. A fastening bolt 25 is arranged on the C-shaped fastening plate body 24.

[0046] In one embodiment of the present invention: The clamping assembly 4 includes a fixed frame, a second chute, a first clamping plate 44, a scale 45, a resisting ring 46, and a strain gauge sensor 47. The second chute is opened inside the fixed frame. Clamping motors 41 are arranged on both sides inside the fixed frame. Screw rods 42 are fixedly connected to both of the two clamping motors 41. A first slider 43 is threadedly connected to the screw rod 42. The first clamping plate 44 is fixed to the first slider 43. The lower end of the scale 45 is fixedly connected to the upper end of the first clamping plate 44. The resisting ring 46 is fixed to the clamping side of the first clamping plate 44. The strain gauge sensor 47 is fixed inside the resisting ring 46. Pulling rings are fixed to the outside of both of the two fixed frames.

[0047] In one embodiment of the present invention: Alarm devices 5 are arranged on both sides of the top of the bottom plate, and a processor is fixed to the front part of the frame structure 3.

[0048] In one embodiment of the present invention: Two micro optical tracking sensors 6 are fixedly connected to the top end of the frame structure 3. A perforation for the puncture needle to pass through is opened in the puncture frame 78, and the puncture needle is made of a shape memory material of nickel-titanium alloy.

[0049] In one embodiment of the present invention: The limiting assembly 8 includes a third chute, a second connecting plate 82, a hydraulic rod 83, and a limiting resisting plate 84. The two third chutes are respectively opened on both sides inside the puncture frame 78. A fourth slider 81 slides inside the third chute. The second connecting plate 82 is fixed between the two fourth sliders 81. The hydraulic rod 83 is fixed to the lower end of the second connecting plate 82. The upper end of the limiting resisting plate 84 is fixed to the lower end of the hydraulic rod 83.

[0050] In one embodiment of the present invention: The processor is electrically connected to the alarm device 5, the micro optical tracking sensor 6, and the fiber optic sensor 85 respectively.

[0051] Example 1. Please refer to the attached Figure 1 - attached Figure 9 , by arranging a fiber optic sensor 85 inside the puncture frame 78, it is convenient to detect the puncture distance of the puncture needle. By arranging the strain gauge sensor 47 to detect the pressure and deformation changes generated by the movement of the body at these parts, it is used to assist in judging the movement state of the patient's body.

[0052] Example 2. Please refer to the attached Figure 1 - attached Figure 9 , by fixing two micro optical tracking sensors 6 to the top of the frame structure 3, the spatial position change of the fixed part of the body relative to the operating room can be accurately tracked, and the real-time position of the patient's trunk can be located in cooperation with other sensors.

[0053] Example 3. Please refer to the attached Figure 1 - attached Figure 9, the present invention also provides a positioning method for a minimally invasive intracranial hematoma removal orientator, including the following steps:

[0054] First, rotate the rotating column 23 out of the interior of the receiving groove 22 through the connecting plates 21 on both sides of the fixing component 2 of the device main body 1 to complete the fixation of the device main body 1;

[0055] Next, place the patient's head between the clamping components 4. At this time, the processor starts the clamping motor 41 to drive the slider 43 and the clamping plate 44 on the screw 42 to move left and right, and at the same time drives the abutting ring 46 and the strain gauge sensor 47 to move left and right for adjustment. When the height of the clamping component 4 needs to be adjusted, the processor starts the stable lifting rod 74 to complete the height adjustment of the clamping component 4.

[0056] Also, the puncture frame 78 moves up and down along the second sliding rod 75 within the frame structure 3, and the slider 72 drives the sliding plate 73 to slide stably on the first sliding rod 71, thereby driving the combined lifting of the puncture frame 78 and the clamping component 4.

[0057] Finally, the strain gauge sensor 47 provided inside the clamping component 4 records the initial positioning position. After the device main body 1, the clamping component 4, and the puncture frame 78 are positioned and clamped, select a puncture needle to penetrate into the hole of the puncture frame 78. During the puncture process, the strain gauge sensor 47 detects the initial positioning position in real time. When the error exceeds a distance of 1 mm - 2 mm, an alarm is issued through the alarm 5 to remind the surgical operator that the current puncture operation has a positioning error beyond the allowable range.

[0058] In an embodiment of the present invention: By arranging an alarm 5 inside the device main body 1, the alarm 5 is electrically connected to the processor to give an early warning in case of abnormal situations, improving the accuracy of the operation.

[0059] In an embodiment of the present invention: Rotate the rotating column 23 out of the interior of the receiving groove 22 through the connecting plates 21 on both sides of the fixing component 2, and insert the plate body into the interior of the C-shaped fastening plate body 24 for fixation, facilitating the fixation of the device main body 1.

[0060] Specifically, the strain gauge sensor 47 records the initial positioning position. After the device main body 1, the clamping component 4, and the puncture frame 78 are positioned and clamped, select a suitable puncture needle to penetrate into the hole of the puncture frame 78, and insert the selected puncture needle smoothly into the skull along the established route. The strain gauge sensor 47 detects the initial positioning position in real time. When the error exceeds a distance of 1 mm - 2 mm, an alarm is promptly issued through the alarm 5 to timely remind the surgical operator that the current puncture operation has a positioning error beyond the allowable range, so that the operator can quickly make corresponding adjustment measures, thereby ensuring the accuracy of the puncture process and the safety of the operation to the greatest extent, facilitating the improvement of the accuracy of the operation.

[0061] Specifically, the clamping motor 41 drives the slider one 43 and the clamping plate one 44 on the screw rod 42 to move left and right, and at the same time drives the abutting ring 46 and the strain gauge sensor 47 to move left and right for adjustment. The processor starts the stable lifting rod 74 to adjust the height of the clamping assembly 4. The puncture frame 78 smoothly lifts and lowers along the second sliding rod 75 within the frame structure 3. The slider two 72 drives the sliding plate 73 to stably slide on the first sliding rod 71, thereby driving the combined lifting of the puncture frame 78 and the clamping assembly 4, facilitating the improvement of the stability of clamping and positioning, enhancing the accuracy of clamping and puncture, and reducing the risk of surgical injury.

[0062] Specifically, by setting positioning bolts on both sides of the frame structure 3, the device main body 1 can be fastened. By rotating the rotating column 23, the C-shaped fastening plate body 24 can be rotated out of the outer side of the receiving groove 22, and fastening connection can be carried out using the fastening bolt 25. By setting two fixing methods, it is convenient for the fixing assembly 2 to be used in various application scenarios.

[0063] Working principle:

[0064] First, before starting the minimally invasive removal of intracranial hematoma, it is necessary to perform a cranial CT examination on the patient undergoing the operation to display the specific shape, size, location of the intracranial hematoma, and its relative relationship with surrounding brain tissues, skulls, etc., measure the coordinate information of the hematoma center in the three-dimensional space of the skull, determine the specific values of the hematoma in the anterior-posterior, left-right, and up-down directions, clarify the nature of the hematoma and the detailed conditions of the surrounding brain tissues, calculate the optimal puncture point and puncture path from the skull surface to the hematoma center, including parameters such as the puncture angle and depth. Then, by using the positioning bolts on both sides of the frame structure 3, the device main body 1 can be fastened, or by rotating the rotating column 23, the C-shaped fastening plate body 24 can be rotated out of the outer side of the receiving groove 22, and fastening connection can be carried out using the fastening bolt 25. By setting two fixing methods, it is convenient for the fixing assembly 2 to be used in various application scenarios.

[0065] Place the patient's head between the clamping assemblies 4. At this time, the processor starts the clamping motor 41 to drive the slider one 43 and the clamping plate one 44 on the screw rod 42 to move left and right, and at the same time drives the abutting ring 46 and the strain gauge sensor 47 to move left and right for adjustment. When it is necessary to adjust the height of the clamping assembly 4, the processor starts the stable lifting rod 74 to adjust the height of the clamping assembly 4. At the same time, the puncture frame 78 smoothly lifts and lowers along the second sliding rod 75 within the frame structure 3. The slider two 72 drives the sliding plate 73 to stably slide on the first sliding rod 71, thereby driving the combined lifting of the puncture frame 78 and the clamping assembly 4, facilitating the improvement of the stability of clamping and positioning, enhancing the accuracy of clamping and puncture, and reducing the risk of surgical injury.

[0066] At this time, the strain gauge sensor 47 arranged inside the clamping assembly 4 records the initial positioning position. After the device main body 1, the clamping assembly 4, and the puncture frame 78 are positioned and clamped, a suitable puncture needle is selected and inserted into the hole of the puncture frame 78. At this time, the staff slides the connecting plate two 82 and the slider four 81 in the limiting assembly 8 to slide inside the third chute. After initially determining the puncture distance through CT, the processor is started. Distance parameters are set in advance in the processor. At this time, the processor and the fiber optic sensor 85 in the puncture frame 78 sense each other. After the puncture reaches the set distance, the fiber optic sensor 85 issues an instruction to the processor, and the selected puncture needle is inserted into the skull smoothly along the established route, avoiding damaging the brain tissue during the process. During the puncture process, the strain gauge sensor 47 detects the initial positioning position in real time. When the error exceeds the 1 mm - 2 mm distance set by the processor, an alarm is given in a timely manner through the alarm 5, timely reminding the surgical operator that there is a positioning error beyond the allowable range in the current puncture operation, so that the operator can quickly make corresponding adjustment measures, thus ensuring the accuracy of the puncture process and the safety of the operation to the greatest extent;

[0067] When the patient's vital signs are abnormal, such as a sharp increase in blood pressure or blood oxygen saturation, etc., which may endanger life, and monitoring means such as ultrasound show that acute cerebral edema is progressing rapidly, and there are serious risks in continuing the operation. After multiple path corrections, the safe range still cannot be reached. When the risk of continuing the puncture is greater than the risk of withdrawing the needle and re-puncturing, the needle withdrawal operation is carried out. At this time, the staff needs to maintain the current depth, observe for a period of time, slowly withdraw and inject hemostatic gel synchronously, and monitor the intracranial pressure change throughout the process to minimize the risk brought by needle withdrawal;

[0068] When the error exceeds the allowable distance set by the processor, the staff will first try to correct it in situ, use the special material of the puncture needle to make a gradual angle correction, and then repeat the above steps to relax the limit of the puncture needle by the hydraulic rod 83 and the limit plate 84. When the puncture height needs to be adjusted too high, the stable lifting rod 74 is started to descend, and the puncture frame 78 is steadily lowered along the second slide bar 75 in the frame structure 3. The slider 72 drives the sliding plate 73 to slide steadily on the first slide bar 71, thereby driving the puncture frame 78 and the clamping assembly 4 to jointly descend. The opposite operation is performed when it is raised. During the operation, the patient's vital signs are observed in real time, and the causes of the puncture deviation are carefully analyzed. According to the patient's latest The imaging data, re-formulate the puncture plan, select a more appropriate puncture point and puncture path, repeat the above operation again, when the puncture needle needs to be pulled out, gradually relax the hydraulic rod 83, thereby relaxing its clamping and limiting effect on the puncture needle, avoiding additional pulling force or impact force on the puncture needle due to too fast operation, when the hydraulic rod 83 and the limiting plate 84 completely relax the limit of the puncture needle, hold the holding part of the puncture needle gently and steadily with both hands, and pull the puncture needle out of the hole of the puncture frame 78 at a uniform and slow speed in the opposite direction of the path when the puncture needle enters, and keep the puncture needle in a straight line to avoid deflection or twisting, so as to prevent unnecessary damage to the tissue around the puncture channel;

[0069] After the puncture needle is withdrawn, immediately conduct a preliminary inspection of the puncture needle to check for any bends, damage, etc., and place it properly to prevent the puncture needle from being contaminated or causing accidental injury to other personnel. At the same time, quickly apply pressure to the puncture point to stop bleeding. Use sterile gauze or other suitable hemostatic materials, apply appropriate pressure, and press the puncture point for about 5 to 10 minutes until there is no obvious bleeding at the puncture point. Strictly disinfect the puncture point and surrounding areas. Use iodine tincture and other high-efficiency disinfectants to perform circular disinfection from the inside to the outside with the puncture point as the center. The disinfection range should cover an area with a diameter of at least 5 cm around the puncture point to prevent infection. To prevent the occurrence of hematoma, according to the specific situation of the puncture point, choose appropriate wound covering materials, such as sterile Band-Aid, sterile gauze, etc., properly bandage the puncture point, ensure that the wound is in a clean and dry environment, and closely observe the patient's reaction after the puncture needle is withdrawn, including changes in vital signs, local bleeding, swelling, etc. If there is any abnormality, appropriate treatment measures should be taken in time. If bloody fluid flows out, it preliminarily proves that the puncture is successful. Then insert a suitable drainage tube through the puncture needle, so that the front end of the drainage tube is located in the center of the hematoma or a suitable drainage position, and then properly fix the drainage tube to prevent it from shifting. At this point, the entire work process is completed.

[0070] The above-mentioned front, back, left, right, top and bottom are all based on the figures in the specification. Figure 1Based on this, taking the perspective of the person observing as the standard, the side of the device facing the observer is defined as the front, the left side of the observer is defined as the left, and so on.

[0071] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the protection scope of the present invention.

[0072] It should be noted that the device structure and drawings of the present invention mainly describe the principle of the present invention. On the basis of this design principle, the settings of the power mechanism, power supply system, control system, etc. of the device are not fully described. However, on the premise that those skilled in the art understand the principle of the above invention, the specific details of its power mechanism, power supply system, and control system can be clearly known. The control mode of the application document is automatically controlled by a controller, and the control circuit of the controller can be realized by simple programming by those skilled in the art;

[0073] The standard parts used therein can all be purchased from the market, and can also be customized according to the description in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, welding, etc. that are mature in the prior art. The machines, parts, and equipment all adopt conventional models in the prior art, and the components known to those skilled in the art, their structures and principles can all be known by those skilled in the art through technical manuals or by conventional experimental methods.

[0074] The above has described the embodiments of the present invention in detail with reference to the drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, without departing from the principle and spirit of the present invention, various changes, modifications, substitutions, and variations made to these embodiments still fall within the protection scope of the present invention.

Claims

1. A minimally invasive intracranial hematoma removal orientator, comprising a device main body (1), characterized in that: The device main body (1) includes a fixing component (2) for stable positioning, a clamping component (4) connected to the device main body (1), a guiding device (7) connected to the clamping component (4), and a limiting component (8) connected to the guiding device (7); The guiding device (7) includes a frame structure (3), grooves, a first sliding rod (71), a second slider (72), a stable lifting rod (74), a receiving block (77), and a puncture frame (78). Two of the grooves are formed on the frame structure (3). Two of the first sliding rods (71) are respectively fixed inside the two grooves. The second slider (72) is slidably connected to the first sliding rod (71). A sliding plate (73) is fixed to the outside of the two second sliders (72). The sliding plate (73) is fixed to the stable lifting rod (74). Connecting frames are fixed to both sides of the front part of the frame structure (3). The stable lifting rod (74) is fixed inside the connecting frames; On both sides of the middle part of the frame structure (3), first chutes are provided. Second sliding rods (75) are arranged inside the two first chutes. Third sliders (76) are slidably arranged on the two second sliding rods (75). The receiving block (77) is fixed between the two third sliders (76). The puncture frame (78) is fixed behind the receiving block (77). Limiting plates (79) are arranged on one side of the two second sliders (72) away from the sliding plate (73). The puncture frame (78) is fixed between the two limiting plates (79); Optical fiber sensors (85) are arranged on opposite inner side surfaces of the puncture frame (78). Two micro optical tracking sensors (6) are fixed to the top of the frame structure (3).

2. The minimally invasive intracranial hematoma removal orientator according to claim 1, characterized in that: The fixing component (2) includes a bottom plate, a first connecting plate (21), and a C-shaped fastening plate body (24). The first connecting plates (21) are respectively fixed to the left and right ends of the bottom plate. Two positioning bolts are tightly connected to each of the two first connecting plates (21). Two symmetrically arranged receiving grooves (22) are formed at the bottom of the bottom plate. A rotating column (23) is rotatably connected to one side of the receiving groove (22). The C-shaped fastening plate body (24) is fixed to the rotating column (23). A fastening bolt (25) is arranged on the C-shaped fastening plate body (24).

3. The minimally invasive intracranial hematoma removal orientation device according to claim 1, characterized in that: The clamping component (4) includes a fixing frame, a second chute, a first clamping plate (44), a scale (45), a resisting ring (46), and a strain gauge sensor (47). The second chute is formed inside the fixing frame. Clamping motors (41) are arranged on both sides inside the fixing frame. A screw rod (42) is fixed to each of the two clamping motors (41). A first slider (43) is threadedly connected to the screw rod (42). The first clamping plate (44) is fixed to the first slider (43). The lower end of the scale (45) is fixedly connected to the upper end of the first clamping plate (44). The resisting ring (46) is fixed to the clamping side of the first clamping plate (44). The strain gauge sensor (47) is fixed inside the resisting ring (46). Pulling rings are fixed to the outside of the two fixing frames.

4. A minimally invasive intracranial hematoma removal orientator according to claim 2, characterized in that: Alarms (5) are provided on both sides of the top of the bottom plate, and a processor is fixed to the front of the frame structure (3).

5. A minimally invasive intracranial hematoma removal orientator according to claim 4, characterized in that: Two micro optical tracking sensors (6) are fixedly connected to the top surface of the frame structure (3), and a hole for the puncture needle to pass through is formed in the puncture frame (78).

6. The minimally invasive intracranial hematoma removal orientator according to claim 1, characterized in that: The limiting component (8) includes a third chute, a second connecting plate (82), a hydraulic rod (83) and a limiting abutting plate (84). The two third chutes are respectively formed on both sides inside the puncture frame (78). A fourth slider (81) slides inside the third chute. The second connecting plate (82) is fixed between the two fourth sliders (81). The hydraulic rod (83) is fixed to the lower end of the second connecting plate (82). The upper end of the limiting abutting plate (84) is fixed to the lower end of the hydraulic rod (83).

7. A minimally invasive intracranial hematoma removal orientator according to claim 4, characterized in that: The processor is electrically connected to the alarm (5), the micro optical tracking sensor (6) and the fiber optic sensor (85) respectively.

8. A positioning method for a minimally invasive intracranial hematoma removal orientator applicable to any one of claims 1-7, characterized in that, It includes the following steps: Step 1: Rotate the rotating column (23) out of the internal storage groove (22) through the first connecting plates (21) on both sides of the fixing component (2) of the device main body (1) to complete the fixation of the device main body (1). Step 2: Place the patient's head between the clamping components (4). At this time, the processor starts the clamping motor (41) to drive the first slider (43) and the first clamping plate (44) on the screw rod (42) to move left and right, and at the same time drives the abutting ring (46) and the strain gauge sensor (47) to move left and right for adjustment. When the height of the clamping component (4) needs to be adjusted, the processor starts the stable lifting rod (74) to complete the height adjustment of the clamping component (4). Step 3: The puncture frame (78) moves up and down along the second sliding rod (75) inside the frame structure (3), and the second slider (72) drives the sliding plate (73) to slide on the first sliding rod (71), so as to drive the puncture frame (78) and the clamping component (4) to move up and down jointly. Step 4: The strain gauge sensor (47) arranged inside the clamping component (4) records the initial positioning position. After the device main body (1), the clamping component (4) and the puncture frame (78) are positioned and clamped, select the puncture needle to pass through the hole of the puncture frame (78). During the puncture process, the strain gauge sensor (47) detects the initial positioning position. When the error exceeds the 1 mm - 2 mm distance set by the processor, an alarm is given through the alarm (5) to complete the reminder of the positioning error in the current puncture operation of the surgical operator.

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