A cerebral vascular intervention puncture positioning device for neurointervention

Abstract

The application discloses a brain blood vessel intervention puncture positioning device for nerve intervention, and relates to the technical field of medical instruments, which comprises a lifting cylinder arranged on a base, a surgical bed arranged on the lifting end of the lifting cylinder, and an adjustable bed surface arranged on the surgical bed; a digital subtraction angiography module, a C-shaped arm image acquisition unit and a display terminal, wherein the display terminal is arranged on the side wall of the C-shaped arm image acquisition unit; a nerve intervention surgical robot, a multi-degree-of-freedom mechanical arm and an intervention needle guiding mechanism, wherein the other end of the multi-degree-of-freedom mechanical arm is provided with an end effector, and the intervention needle guiding mechanism is arranged on the end effector. The brain blood vessel intervention puncture positioning device for nerve intervention integrates the digital subtraction angiography module, the nerve intervention surgical robot and the skull fixing structure, realizes accurate planning of a puncture path, real-time visual navigation of a puncture process and automatic and accurate control of a puncture posture.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically to a cerebral vascular interventional puncture positioning device for neurointervention. Background Technology

[0002] Cerebrovascular disease is a common disease among the elderly in my country, and its incidence and prevalence are increasing year by year with the accelerating aging of the population. Endovascular interventional techniques are an important means of preventing and treating cerebrovascular diseases, and vascular puncture is the first step in neurointerventional treatment. Establishing a safe and effective puncture channel is the foundation for the successful completion of subsequent treatments.

[0003] However, current cerebrovascular interventional puncture procedures mainly rely on manual manipulation by doctors, which has the following shortcomings: First, in traditional procedures, doctors need to rely on experience and spatial imagination to determine the three-dimensional position and direction of the puncture needle under the guidance of two-dimensional digital subtraction angiography (DSA) images. The accuracy of puncture positioning is highly dependent on individual skills, the learning curve is steep, and repeated fluoroscopic operations increase the risk of radiation exposure for both doctors and patients.

[0004] Second, existing auxiliary positioning devices have simple structures and can usually only provide basic puncture point positioning. They cannot provide real-time and dynamic precise guidance and control of the needle insertion angle, depth and posture during the puncture process, making it difficult to meet the puncture accuracy requirements of complex cerebrovascular lesions.

[0005] Third, the operating table and the method of fixing the patient's head are rudimentary. During the puncture operation, the patient's head is prone to slight displacement, which can cause the pre-planned puncture path to deviate, affecting the success rate of the puncture. It may even accidentally damage nearby important blood vessels or nerve tissues, leading to serious complications.

[0006] Therefore, how to provide a neuro-interventional cerebrovascular interventional puncture positioning device that integrates high-precision image guidance, robot-assisted guidance, and stable head fixation is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0007] In view of this, the present invention provides a cerebrovascular interventional puncture positioning device for neurointervention, which aims to solve one of the problems in the above-mentioned background technology, integrating high-precision image guidance, robot-assisted guidance and head stabilization functions into one.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: A neurointerventional cerebrovascular interventional puncture and positioning device, comprising: A base, on which a lifting cylinder is provided, and an operating table is provided at the lifting end of the lifting cylinder. An adjustable bed surface is provided on the operating table, and the adjustable bed surface is hinged to the operating table. The digital subtraction angiography module includes a movable base, a C-arm image acquisition unit, and a display terminal. The C-arm image acquisition unit is mounted on the movable base and located above the operating table. The display terminal is mounted on the side wall of the C-arm image acquisition unit and is electrically connected to the C-arm image acquisition unit. A neurointerventional surgical robot includes a robot base, a multi-degree-of-freedom robotic arm, and an interventional needle guiding mechanism. The robot base is disposed on the side of the operating table. One end of the multi-degree-of-freedom robotic arm is hinged to the robot base, and the other end of the multi-degree-of-freedom robotic arm is provided with an end effector. The interventional needle guiding mechanism is disposed on the end effector and is used to hold the interventional puncture needle and guide its posture.

[0009] Furthermore, the operating table is equipped with a head fixation frame, which includes a base and an arc-shaped support frame. The base is disposed on the adjustable bed surface, and the arc-shaped support frame is rotatably disposed on the base. Both sides of the arc-shaped support frame are provided with locking adjustment knobs, which are horizontally movable and pass through the arc-shaped support frame. A flexible clamping block is provided at one end of the locking adjustment knob located inside the arc-shaped support frame.

[0010] Furthermore, the interventional needle guiding mechanism includes a guide sleeve and a clamping sleeve. The guide sleeve is slidably connected to the end effector. The clamping sleeve is located at one end of the guide sleeve away from the end effector. The clamping sleeve is used to clamp and fix the interventional puncture needle. The other end of the guide sleeve is provided with a drive motor to control the interventional puncture needle to complete the forward and backward feeding action along the axial direction of the guide sleeve.

[0011] Furthermore, the arc-shaped support frame is provided with an arc-shaped groove, and a limiting block is slidably provided in the arc-shaped groove.

[0012] Furthermore, the operating table is equipped with an electric push rod corresponding to the adjustable bed surface, and the adjustable bed surface is rotatably mounted on the operating table via the electric push rod.

[0013] Furthermore, it also includes a head-limiting support pad, which is disposed on the base and located inside the arc-shaped support frame.

[0014] As can be seen from the above technical solution, compared with the prior art, the present invention discloses a cerebral vascular interventional puncture and positioning device for neurointervention, which has the following advantages: 1) By setting up a digital subtraction angiography module, it is possible to acquire two-dimensional / three-dimensional image data of the patient's cerebral blood vessels in real time and display them on the terminal, providing doctors with a clear anatomical structure reference; in conjunction with the multi-degree-of-freedom robotic arm and interventional needle guide mechanism of the neurointerventional surgery robot, the interventional puncture needle can be precisely adjusted to the preset needle insertion angle and posture, achieving precise positioning under image guidance, effectively avoiding subjective deviations of manual puncture, greatly improving the success rate of puncture on the first attempt, and reducing the risk of accidentally puncturing blood vessels or nerves; 2) The operating table is equipped with a head fixation frame. The curved support frame has locking adjustment knobs with flexible clamping blocks on both sides, which can flexibly and stably clamp the patient's head from both sides, effectively preventing the head from shaking during the operation. At the same time, the curved groove on the curved support frame cooperates with the limiting block to further adjust the limiting position according to the patient's head shape, enhance the adaptability and firmness of the fixation, and thus ensure that the puncture path planned before the operation does not deviate due to the patient's movement. 3) The overall height of the operating table can be adjusted by the lifting cylinder, and the angle of the adjustable table surface can be flipped by the electric push rod, which makes it easy for doctors to flexibly adjust the patient's position according to the puncture route and make the puncture point more fully exposed. In addition, the moving seat of the digital subtraction angiography module can flexibly move the C-arm to avoid interference with the surgical robot or doctor's operation. The overall layout is reasonable and the space utilization rate is high. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the cerebral vascular interventional puncture positioning device for neurointervention provided by the present invention.

[0017] The components are as follows: 1 is the base; 2 is the lifting cylinder; 3 is the operating table; 4 is the adjustable bed surface; 5 is the movable seat; 6 is the C-arm image acquisition unit; 7 is the display terminal; 8 is the robot base; 9 is the multi-degree-of-freedom robotic arm; 10 is the end effector; 11 is the base; 12 is the arc-shaped support frame; 13 is the locking adjustment knob; 14 is the flexible clamping block; 15 is the guide sleeve; 16 is the clamping cylinder; 17 is the interventional puncture needle; 18 is the limiting block; and 19 is the head limiting support pad. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] See Figure 1 This invention discloses a cerebrovascular interventional puncture and positioning device for neurointervention, comprising: The system comprises a base 1, on which a lifting cylinder 2 is mounted. An operating table 3 is mounted on the lifting end of the cylinder 2. An adjustable bed surface 4 is mounted on the operating table 3 and hinged to it. The base 1 serves as the supporting foundation for the entire device, ensuring its stability during operation. The lifting cylinder 2 is fixed to the base 1, and its telescopic end is connected to the operating table 3. Precise adjustment of the overall height of the operating table 3 is achieved through pneumatic drive. This design allows the operating table 3 to be adjusted to the most suitable working height based on the surgeon's height, operating habits, and puncture site, facilitating the surgeon's operation. Simultaneously, it provides sufficient space for the C-arm imaging unit 6 and the surgical robot, avoiding positional interference. The digital subtraction angiography module includes a movable base 5, a C-arm image acquisition unit 6, and a display terminal 7. The C-arm image acquisition unit 6 is mounted on the movable base 5 and located above the operating table 3. The display terminal 7 is mounted on the side wall of the C-arm image acquisition unit 6 and is electrically connected to the C-arm image acquisition unit 6. The movable base 5 serves as the support and displacement carrier for the C-arm and can move on the operating room floor track or casters, allowing the C-arm to flexibly adjust its position relative to the operating table 3, including its front-to-back, left-to-right, and rotation angles, thereby acquiring multi-angle images without moving the patient. The C-arm image acquisition unit 6 emits X-rays and receives the attenuated signal after passing through the patient's head. After digital processing, it reconstructs high-resolution cerebral vascular images, providing doctors with precise anatomical location information of blood vessel course, stenosis location, and puncture target point. The display terminal 7 is installed on the side wall of the C-arm, which allows doctors to observe the images in real time without turning their heads when operating the robotic arm or performing punctures, achieving precise guidance of "what you see is what you are needled". At the same time, the terminal is electrically connected to the C-arm and can simultaneously display the angiography parameters and the virtual trajectory of the puncture needle. The neurointerventional surgical robot includes a robot base 118, a multi-degree-of-freedom robotic arm 9, and an interventional needle guiding mechanism. The robot base 118 is located on the side of the operating table 3. One end of the multi-degree-of-freedom robotic arm 9 is hinged to the robot base 118, and the other end of the multi-degree-of-freedom robotic arm 9 is equipped with an end effector 10. The interventional needle guiding mechanism is located on the end effector 10. The interventional needle guiding mechanism is used to hold the interventional puncture needle 17 and guide the posture of the interventional puncture needle 17. It can automatically or remotely adjust the end effector 10 (and the interventional puncture needle 17 it carries) to the target needle insertion point and needle insertion direction according to the preoperative planning or real-time image coordinates during the operation, replacing the human hand to complete the posture alignment, significantly improving the positioning accuracy, and reducing the doctor's exposure time in the X-ray radiation field.

[0020] In this embodiment, the operating table 3 is equipped with a head fixation frame, which includes a base 11 and an arc-shaped support frame 12. The base 11 is set on the adjustable bed surface 4. The arc-shaped support frame is rotatably set on the base 11. Locking adjustment knobs 13 are provided on both sides of the arc-shaped support frame. The locking adjustment knobs 13 are horizontally movable and pass through the arc-shaped support frame. A flexible clamping block 14 is provided at one end of the locking adjustment knob 13 located inside the arc-shaped support frame. The head fixation frame as a whole is used to rigidly restrain the patient's head during puncture to prevent head displacement caused by the patient's involuntary movement or surgical disturbance. The base 11 is fixed on the adjustable bed surface 4, providing a mounting base; the arc-shaped support frame 12 is rotatably mounted on the base 11, and the tilt angle of the frame can be adjusted according to the size of the patient's head and the side of the puncture, so that the fixation is more secure; the locking adjustment knob 13 is horizontally moved through both sides of the arc-shaped support frame, and by rotating it, the flexible clamping block 14 at its inner end can be pushed towards the head; the flexible material (such as silicone or sponge) can provide sufficient clamping force while avoiding pressure sores or damage to the scalp, achieving a balance between stability and safety.

[0021] In this embodiment, the interventional needle guiding mechanism includes a guide sleeve 15 and a clamping sleeve 16. The guide sleeve 15 is slidably connected to the end effector 10. The clamping sleeve 16 is located at the end of the guide sleeve 15 away from the end effector 10. The clamping sleeve 16 is used to clamp and fix the interventional puncture needle 17. The other end of the guide sleeve 15 is provided with a drive motor to control the interventional puncture needle 17 to complete the forward and backward feeding action along the axial direction of the guide sleeve 15. This realizes the mechanization and digital control of the puncture feeding action, supports micro-stepping and rapid retraction, ensures the instantaneous breakthrough force when penetrating the blood vessel wall, and can slow down and advance slowly when approaching the target point, significantly reducing the risk of blood vessel perforation.

[0022] In this embodiment, an arc-shaped groove is provided on the arc-shaped support frame, and a limiting block 18 is slidably provided in the arc-shaped groove. It cooperates with the flexible clamping blocks 14 on both sides to form a "four-point surrounding" fixation of the head, which further enhances the head's resistance to displacement in the horizontal and sagittal directions and ensures that the puncture path planned before the operation does not deviate during the operation.

[0023] In this embodiment, the operating table 3 is equipped with an electric push rod corresponding to the adjustable bed surface 4. The adjustable bed surface 4 is rotatably mounted on the operating table 3 via the electric push rod. Before puncture, the tilt angle of the bed surface can be adjusted by the electric push rod according to the anatomical position of the puncture target point, thereby changing the patient's position and exposing the target blood vessel puncture point more fully to the imaging field of the C-arm. At the same time, the change in position can also be used to assist in adjusting the vascular tension and improve the puncture success rate.

[0024] In this embodiment, a head-limiting support pad 19 is also included. The head-limiting support pad 19 is disposed on the base 11 and located inside the arc-shaped support frame 12. It directly contacts the back of the patient's head or the top of the head and is made of flexible material. Its functions are: on the one hand, to provide a comfortable support surface for the head, distribute head pressure, and reduce the patient's discomfort during long-term surgery; on the other hand, through its appropriate concave or anti-slip design, to pre-position the head before clamping, and assist the clamping block to complete the final fixation faster and more accurately.

[0025] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0026] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cerebral vascular interventional puncture and positioning device for neurointervention, characterized in that, include: A base, on which a lifting cylinder is provided, and an operating table is provided at the lifting end of the lifting cylinder. An adjustable bed surface is provided on the operating table, and the adjustable bed surface is hinged to the operating table. The digital subtraction angiography module includes a movable base, a C-arm image acquisition unit, and a display terminal. The C-arm image acquisition unit is mounted on the movable base and located above the operating table. The display terminal is mounted on the side wall of the C-arm image acquisition unit and is electrically connected to the C-arm image acquisition unit. A neurointerventional surgical robot includes a robot base, a multi-degree-of-freedom robotic arm, and an interventional needle guiding mechanism. The robot base is disposed on the side of the operating table. One end of the multi-degree-of-freedom robotic arm is hinged to the robot base, and the other end of the multi-degree-of-freedom robotic arm is provided with an end effector. The interventional needle guiding mechanism is disposed on the end effector and is used to hold the interventional puncture needle and guide its posture.

2. The cerebral vascular interventional puncture and positioning device for neurointervention according to claim 1, characterized in that, The operating table is equipped with a head fixation frame, which includes a base and an arc-shaped support frame. The base is disposed on the adjustable bed surface, and the arc-shaped support frame is rotatably disposed on the base. Both sides of the arc-shaped support frame are provided with locking adjustment knobs, which are horizontally movable and pass through the arc-shaped support frame. A flexible clamping block is provided at one end of the locking adjustment knob located inside the arc-shaped support frame.

3. The cerebral vascular interventional puncture and positioning device for neurointervention according to claim 1, characterized in that, The interventional needle guiding mechanism includes a guide sleeve and a clamping sleeve. The guide sleeve is slidably connected to the end effector. The clamping sleeve is located at one end of the guide sleeve away from the end effector. The clamping sleeve is used to clamp and fix the interventional puncture needle. The other end of the guide sleeve is provided with a drive motor to control the interventional puncture needle to complete the forward and backward feeding action along the axial direction of the guide sleeve.

4. The cerebral vascular interventional puncture and positioning device for neurointervention according to claim 2, characterized in that, The arc-shaped support frame is provided with an arc-shaped groove, and a limiting block is slidably provided in the arc-shaped groove.

5. The cerebral vascular interventional puncture and positioning device for neurointervention according to claim 1, characterized in that, The operating table is equipped with an electric push rod corresponding to the adjustable bed surface, and the adjustable bed surface is rotatably mounted on the operating table via the electric push rod.

6. A cerebral vascular interventional puncture and positioning device for neurointervention according to claim 2, characterized in that, It also includes a head-limiting support pad, which is disposed on the base and located inside the arc-shaped support frame.

Images