Automatic intervention device

Abstract

The utility model relates to an automatic intervention device. Comprising a positioning frame; the adjusting mechanism is arranged on the positioning frame; the auxiliary puncture mechanism is arranged on the adjusting mechanism; the auxiliary puncture mechanism is used for assembling an interventional instrument; the auxiliary puncture mechanism comprises an adjusting mechanism, a transmission rope assembly and a power driving mechanism, the transmission rope assembly is connected between the adjusting mechanism and the power driving mechanism, and the transmission rope assembly is used for transmitting acting force output by the power driving mechanism to the adjusting mechanism so as to adjust the position, relative to the positioning frame, of the auxiliary puncture mechanism. The power driving mechanism is used for being configured in a magnetic compatible environment. According to the automatic intervention device, the power driving mechanism containing the electronic element can be placed at the position far away from a magnetic resonance area, interference of a power source to magnetic resonance imaging is reduced, the magnetic compatibility of the automatic intervention device is improved, and then the operation risk is reduced while the operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an automatic intervention device. Background Art

[0002] Interventional surgery is a minimally invasive treatment that uses modern high-tech means. Specifically, under the guidance of medical imaging equipment, special catheters, guide wires, puncture needles and other precision instruments are introduced into the human body to diagnose and locally treat internal diseases.

[0003] In current head interventional devices, since the positioning components of the interventional devices are incompatible with the MRI room, patients are repeatedly pushed in (out) of the MRI room for positioning, which increases the risk of infection and delays the operation. Summary of the invention

[0004] Based on this, it is necessary to provide an automatic intervention device to address the above problems.

[0005] An automatic intervention device, comprising:

[0006] Positioning frame;

[0007] An adjustment mechanism is arranged on the positioning frame;

[0008] An auxiliary puncture mechanism is arranged on the adjustment mechanism; the auxiliary puncture mechanism is used for assembling interventional instruments;

[0009] A transmission cable assembly and a power drive mechanism, wherein the transmission cable assembly is connected between the adjustment mechanism and the power drive mechanism, and the transmission cable assembly is used to transmit the force output by the power drive mechanism to the adjustment mechanism to adjust the position of the auxiliary puncture mechanism relative to the positioning frame; the power drive mechanism is used to be configured in a magnetically compatible environment.

[0010] In one embodiment, the adjustment mechanism comprises:

[0011] Two first adjustment components are respectively located on opposite sides of the positioning frame; each of the first adjustment components can be slidably disposed on the positioning frame along a first direction;

[0012] A support member, both ends of which are respectively arranged on the two first adjustment components; the auxiliary puncture mechanism is arranged on the support member;

[0013] The transmission cable assembly includes two first transmission cables, the input ends of the two first transmission cables are connected to the power drive mechanism, and the output ends of the two first transmission cables are respectively connected to the two first adjustment assemblies.

[0014] In one of the embodiments, a first guide rail is provided on the positioning frame;

[0015] The first adjustment component comprises:

[0016] A first slider is disposed on the first guide rail; a first assembly groove is disposed on the first slider, and the first assembly groove penetrates at least a portion of the first slider so that a portion of the surface of the first guide rail is exposed in the groove cavity of the first assembly groove;

[0017] The first walking wheel is rotatably disposed in the first assembly groove and contacts the first guide rail; the input ends of the first transmission cables are connected to the power drive mechanism, and the output ends of the first transmission cables are connected to the first walking wheel; the axis center of the output end of the first transmission cable coincides with the axis center of the first walking wheel.

[0018] In one embodiment, the adjustment mechanism further includes two second adjustment components, the two second adjustment components correspond to the two first adjustment components one by one, and each second adjustment component can be slidably arranged on the corresponding first adjustment component along the second direction; the two ends of the support member are respectively arranged on the two second adjustment components; the second direction intersects with the first direction;

[0019] The transmission cable assembly includes two second transmission cables, the input ends of the two second transmission cables are connected to the power drive mechanism, and the output ends of the two second transmission cables are respectively connected to the two second adjustment assemblies.

[0020] In one of the embodiments, a second guide rail is provided on the first adjustment assembly;

[0021] The second adjustment component comprises:

[0022] A second slider is disposed on the second guide rail; a second assembly groove is disposed on the second slider, and the second assembly groove penetrates at least a portion of the second slider, so that a portion of the surface of the second guide rail is exposed in the groove cavity of the second assembly groove;

[0023] The second walking wheel is rotatably disposed in the second assembly groove and contacts the second guide rail; the input end of the second transmission cable is connected to the power drive mechanism, and the output end of the second transmission cable is connected to the second walking wheel; the axis center of the output end of the second transmission cable coincides with the axis center of the second walking wheel.

[0024] In one embodiment, the adjustment mechanism further includes two third adjustment components, the two third adjustment components correspond to the two second adjustment components one by one, and each of the third adjustment components is rotatably arranged on the corresponding second adjustment component around the first rotation axis; the two ends of the support member are respectively arranged on the two third adjustment components; the first rotation axis intersects with the first direction and intersects with the second direction;

[0025] The transmission cable assembly includes two third transmission cables, the input ends of the two third transmission cables are connected to the power drive mechanism, and the output ends of the two third transmission cables are respectively connected to the two third adjustment assemblies.

[0026] In one embodiment, a rotation hole is provided on the second adjustment component;

[0027] The third adjustment component comprises:

[0028] A rotating shaft is inserted into the rotating hole; the output end of the third transmission cable is connected to the rotating shaft, and the axis of the output end of the third transmission cable coincides with the axis of the rotating shaft;

[0029] The rotating block has one end fixedly connected to the rotating shaft and the other end fixedly connected to the supporting member.

[0030] In one of the embodiments, the support member is constructed as an arc-shaped structural member;

[0031] The adjustment mechanism further includes a fourth adjustment component, which is slidably disposed on the arc-shaped structure along the extension direction of the arc-shaped structure; the auxiliary puncture mechanism is disposed on the fourth adjustment component;

[0032] The transmission cable assembly includes a fourth transmission cable, an input end of the fourth transmission cable is connected to the power drive mechanism, and an output end of the fourth transmission cable is connected to the fourth adjustment assembly.

[0033] In one embodiment, the fourth adjustment component includes:

[0034] A fourth sliding block is slidably mounted on the arc-shaped structural member;

[0035] The fourth walking wheel is rotatably arranged on the fourth slider; the walking surface of the fourth walking wheel contacts the arc surface of the arc-shaped structural member; the output end of the fourth transmission cable is connected to the fourth walking wheel, and the axis center of the output end of the fourth transmission cable coincides with the axis center of the fourth walking wheel.

[0036] In one embodiment, the auxiliary puncture mechanism comprises two rollers which are parallel to each other and spaced apart; the interventional instrument is used to be assembled between the two rollers;

[0037] The adjustment mechanism further comprises a fifth transmission cable, an output end of which is transmission-connected to at least one roller.

[0038] In one embodiment, the power drive mechanism comprises:

[0039] A first driving member, wherein the output end of the first driving member is drivingly connected to the input end of the first transmission cable; the first driving member is used to drive the first transmission cable to rotate around its own axis;

[0040] a second driving member, wherein the output end of the second driving member is drivingly connected to the input end of the second transmission cable; the second driving member is used to drive the second transmission cable to rotate around its own axis;

[0041] a third driving member, wherein the output end of the third driving member is drivingly connected to the input end of the third transmission cable; the third driving member is used to drive the third transmission cable to rotate around its own axis;

[0042] A fourth driving member, the output end of which is drivingly connected to the input end of the fourth transmission cable; the fourth driving member is used to drive the fourth transmission cable to rotate around its own axis;

[0043] A fifth driving member, wherein the output end of the fifth driving member is drivingly connected to the input end of the fifth transmission cable; the fifth driving member is used for driving the fifth transmission cable to rotate around its own axis.

[0044] In one embodiment, the positioning frame includes:

[0045] a frame, wherein the adjusting mechanism is arranged on the frame;

[0046] Positioning pins are arranged on the frame; the positioning pins are used to fix the frame to the patient's surgical site.

[0047] The automatic intervention device provided in the embodiment of the present application, by providing a power drive mechanism, does not need to manually adjust the adjustment mechanism, which not only improves the adjustment efficiency, but also helps to make the adjustment accuracy of the auxiliary puncture mechanism posture higher. By providing a transmission cable assembly for transmitting the force between the power drive mechanism and the adjustment mechanism, the power drive mechanism containing electronic components can be placed at a position far away from the magnetic resonance area, that is, the power drive mechanism is placed in a magnetically compatible environment, which reduces the interference of the power source on the magnetic resonance imaging, improves the magnetic compatibility of the automatic intervention device, and thus reduces the surgical risk while improving the surgical efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 A schematic diagram of the structure of an automatic intervention device provided in one embodiment of the present application.

[0050] Figure 2 for Figure 1 A schematic structural diagram of the positioning frame, adjustment mechanism and transmission cable assembly of the automatic intervention device is shown.

[0051] Figure 3 for Figure 2 Side view of.

[0052] Figure 4 for Figure 2 Top view of the .

[0053] Figure 5 for Figure 2 A schematic structural diagram of the positioning frame, the first adjustment component, the second adjustment component and the third adjustment component.

[0054] Figure 6 for Figure 2 Schematic diagram of the structure of the second adjustment component and the third adjustment component.

[0055] Figure 7 for Figure 2 A schematic structural diagram of the positioning frame, the fourth adjustment component and the auxiliary puncture mechanism in the first perspective.

[0056] Figure 8 for Figure 2 A schematic structural diagram of the positioning frame, the fourth adjustment component and the auxiliary puncture mechanism at a second viewing angle.

[0057] Fig. 9 for Figure 1 The schematic diagram of the structure of the power drive mechanism of the automatic intervention device is shown.

[0058] Description of reference numerals:

[0059] 10. Automatic intervention device; 11. Positioning frame; 111. Frame; 112. Positioning pin; 12. Adjustment mechanism; 121. First adjustment component; 1211. First slider; 12111. First assembly groove; 1212. First running wheel; 122. Support member; 123. Second adjustment component; 1231. Second slider; 12311. Second assembly groove; 12312. Rotation hole; 1232. Second running wheel; 124. Third adjustment component; 1241. Rotation axis; 1242. Rotation block; 125. Fourth adjustment component; 1251. Fourth slider block; 1252, fourth walking wheel; 13, auxiliary puncture mechanism; 131, roller; 132, transmission assembly; 133, guide frame; 14, transmission cable assembly; 141, first transmission cable; 142, second transmission cable; 143, third transmission cable; 144, fourth transmission cable; 145, fifth transmission cable; 15, power drive mechanism; 151, power box; 152, first transmission box; 153, second transmission box; 154, third transmission box; 155, electrical interface; 161, first guide rail; 162, second guide rail; 20, interventional instrument; 30, head. DETAILED DESCRIPTION

[0060] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0061] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0062] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0063] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0064] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0065] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0066] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, an embodiment of the present application provides an automatic intervention device 10 , which includes a positioning frame 11 , an adjustment mechanism 12 , an auxiliary puncture mechanism 13 , a transmission cable assembly 14 and a power drive mechanism 15 .

[0067] The positioning frame 11 is used to fix the automatic intervention device 10 on a body part of the patient. For example, the positioning frame 11 can fix the automatic intervention device 10 on the head 30 of the patient.

[0068] Specifically, the adjustment mechanism 12 is arranged on the positioning frame 11. The auxiliary puncture mechanism 13 is arranged on the adjustment mechanism 12. The auxiliary puncture mechanism 13 is used to assemble the interventional instrument 20. The transmission cable assembly 14 is connected between the adjustment mechanism 12 and the power drive mechanism 15, and the transmission cable assembly 14 is used to transmit the force output by the power drive mechanism 15 to the adjustment mechanism 12, so as to adjust the position of the auxiliary puncture mechanism 13 relative to the positioning frame 11. The power drive mechanism 15 is used to be configured in a magnetically compatible environment.

[0069] Here, the adjustment mechanism 12 is used to adjust the position of the auxiliary puncture mechanism 13 relative to the positioning frame 11, that is, the posture of the interventional instrument 20 is adjusted by adjusting the position of the auxiliary puncture mechanism 13. In an embodiment of the present application, the transmission cable assembly 14 is used to transmit mechanical force. A magnetically compatible environment refers to an environment in which electronic devices can be placed and which does not affect the normal use of other equipment in the environment. For example, in interventional surgery, the magnetic resonance imaging room is a non-magnetic compatible environment. A space in which electronic devices (such as a power drive mechanism 15) can be placed and which does not affect magnetic resonance imaging is a magnetically compatible environment.

[0070] The automatic intervention device 10 provided in the embodiment of the present application, by providing a power drive mechanism 15, does not need to manually adjust the adjustment mechanism 12, which is not only conducive to improving the adjustment efficiency, but also conducive to making the adjustment accuracy of the posture of the auxiliary puncture mechanism 13 higher. By providing a transmission cable assembly 14 for transmitting the force between the power drive mechanism 15 and the adjustment mechanism 12, the power drive mechanism 15 containing electronic components can be placed at a position far away from the magnetic resonance area, that is, the power drive mechanism 15 is placed in a magnetically compatible environment, which reduces the interference of the power source on the magnetic resonance imaging, improves the magnetic compatibility of the automatic intervention device 10, and thereby reduces the surgical risk while improving the surgical efficiency.

[0071] In one embodiment, referring to Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the adjustment mechanism 12 includes a support member 122 and two first adjustment components 121. The two first adjustment components 121 are respectively located on opposite sides of the positioning frame 11. Each first adjustment component 121 can be slidably arranged on the positioning frame 11 along the first direction X. Both ends of the support member 122 are respectively arranged on the two first adjustment components 121. The auxiliary puncture mechanism 13 is arranged on the support member 122.

[0072] Furthermore, the transmission cable assembly 14 includes two first transmission cables 141 , the input ends of the two first transmission cables 141 are connected to the power drive mechanism 15 , and the output ends of the two first transmission cables 141 are connected to the two first adjustment assemblies 121 , respectively.

[0073] In the embodiment of the present application, the input end of the transmission cable refers to the force input end of the transmission cable, and the output end of the transmission cable refers to the force output end of the transmission cable.

[0074] It should be noted that the two first adjustment components 121 are symmetrically arranged on both sides of the positioning frame 11. By respectively arranging the two ends of the support member 122 on the two first adjustment components 121, the two first adjustment components 121 can be adjusted synchronously, so that the support member 122 moves relative to the positioning frame 11 along the first direction X, thereby adjusting the position of the auxiliary puncture mechanism 13.

[0075] In one embodiment, a first guide rail 161 is provided on the positioning frame 11. The first adjustment assembly 121 includes a first slider 1211 and a first walking wheel 1212. The first slider 1211 is provided on the first guide rail 161. A first assembly groove 12111 is provided on the first slider 1211, and the first assembly groove 12111 penetrates at least a portion of the first slider 1211 so that a portion of the surface of the first guide rail 161 is exposed in the groove cavity of the first assembly groove 12111. In one example, a first slide groove (not shown) is provided on the first slider 1211, and at least a portion of the structure of the first guide rail 161 is embedded in the first slide groove. The groove cavity of the first assembly groove 12111 is connected to the groove cavity of the first slide groove.

[0076] Further, the first running wheel 1212 is rotatably disposed in the first assembly groove 12111 and is in contact with the first guide rail 161. The input end of the first transmission cable 141 is connected to the power drive mechanism 15, and the output end of the first transmission cable 141 is connected to the first running wheel 1212. Here, the first transmission cable 141 is used to transmit the rotational torque output by the power drive mechanism 15 to the first running wheel 1212. The axis of the output end of the first transmission cable 141 coincides with the axis of the first running wheel 1212, that is, the output end of the first transmission cable 141 is coaxially arranged with the first running wheel 1212. In this way, it can be ensured that the first transmission cable 141 can drive the first running wheel 1212 to rotate around its own axis while rotating around its own axis.

[0077] The above arrangement can make the structure and driving mode of the first adjustment component 121 relatively simple, and reduce the structural complexity of the first adjustment component 121. Specifically, the torque output by the power drive mechanism 15 is transmitted to the input end of the first transmission cable 141, and the first transmission cable 141 rotates around its own axis. Then, the first transmission cable 141 drives the first running wheel 1212 to rotate through the output end. The first running wheel 1212 contacts the first guide rail 161 during the rotation process. The reaction force applied by the first guide rail 161 to the first running wheel 1212 causes the first slider 1211 to slide along the first direction X.

[0078] It should be noted that when the two first transmission cables 141 synchronously drive the two first running wheels 1212 , in order to ensure that the two first running wheels 1212 move synchronously in the same direction, the two first transmission cables 141 have the same rotation speed and opposite rotation directions.

[0079] In one embodiment, referring to Figure 2 and Figure 3 As shown, the adjustment mechanism 12 further includes two second adjustment components 123, and the two second adjustment components 123 correspond to the two first adjustment components 121 one by one, and each second adjustment component 123 can be slidably disposed on the corresponding first adjustment component 121 along the second direction Y. Both ends of the support member 122 are respectively disposed on the two second adjustment components 123. The second direction Y intersects with the first direction X.

[0080] The transmission cable assembly 14 includes two second transmission cables 142 , the input ends of the two second transmission cables 142 are connected to the power drive mechanism 15 , and the output ends of the two second transmission cables 142 are connected to the two second adjustment assemblies 123 , respectively.

[0081] It should be noted that the two second adjustment components 123 are symmetrically arranged on both sides of the positioning frame 11. By respectively arranging the two ends of the support member 122 on the two second adjustment components 123, the two second adjustment components 123 can be adjusted synchronously, so that the support member 122 moves relative to the positioning frame 11 along the second direction Y, thereby adjusting the position of the auxiliary puncture mechanism 13.

[0082] In a specific embodiment, the first direction X is perpendicular to the second direction Y.

[0083] In one embodiment, a second guide rail 162 is provided on the first adjustment component 121. The second adjustment component 123 includes a second slider 1231 and a second walking wheel 1232. The second slider 1231 is provided on the second guide rail 162. A second assembly groove 12311 is provided on the second slider 1231, and the second assembly groove 12311 penetrates at least a portion of the second slider 1231, so that a portion of the surface of the second guide rail 162 is exposed in the groove cavity of the second assembly groove 12311. In one example, a second slide groove (not shown) is provided on the second slider 1231, and at least a portion of the structure of the second guide rail 162 is embedded in the second slide groove. The groove cavity of the second assembly groove 12311 is connected to the groove cavity of the second slide groove.

[0084] Further, the second running wheel 1232 is rotatably disposed in the second assembly groove 12311 and contacts the second guide rail 162. The input end of the second transmission cable 142 is connected to the power drive mechanism 15, and the output end of the second transmission cable 142 is connected to the second running wheel 1232. Here, the second transmission cable 142 is used to transmit the rotational torque output by the power drive mechanism 15 to the second running wheel 1232. The axis of the output end of the second transmission cable 142 coincides with the axis of the second running wheel 1232, that is, the output end of the first transmission cable 141 is coaxially arranged with the first running wheel 1212. In this way, it can be ensured that the second transmission cable 142 can drive the second running wheel 1232 to rotate around its own axis while rotating around its own axis.

[0085] The above arrangement can make the structure and driving mode of the second adjustment component 123 relatively simple, and reduce the structural complexity of the second adjustment component 123. Specifically, the torque output by the power drive mechanism 15 is transmitted to the input end of the second transmission cable 142, and the second transmission cable 142 rotates around its own axis. Then, the second transmission cable 142 drives the second running wheel 1232 to rotate through the output end. The second running wheel 1232 contacts the second guide rail 162 during the rotation process. The reaction force applied by the second guide rail 162 to the second running wheel 1232 causes the second slider 1231 to slide along the second direction Y.

[0086] It should be noted that when the two second transmission cables 142 synchronously drive the two second running wheels 1232 , in order to ensure that the two second running wheels 1232 move synchronously in the same direction, the two second transmission cables 142 rotate at the same speed and in opposite directions.

[0087] In one embodiment, the adjustment mechanism 12 further includes two third adjustment components 124, the two third adjustment components 124 correspond to the two second adjustment components 123 one by one, and each third adjustment component 124 is rotatably disposed on the corresponding second adjustment component 123 around the first rotation axis. Both ends of the support member 122 are respectively disposed on the two third adjustment components 124. The first rotation axis intersects the first direction X and the second direction Y.

[0088] The transmission cable assembly 14 includes two third transmission cables 143 , the input ends of the two third transmission cables 143 are both connected to the power drive mechanism 15 , and the output ends of the two third transmission cables 143 are respectively connected to two third adjustment assemblies 124 .

[0089] It should be noted that the two third adjustment components 124 are symmetrically arranged on both sides of the positioning frame 11. By respectively arranging the two ends of the support member 122 on the two third adjustment components 124, the two third adjustment components 124 can be synchronously adjusted to make the support member 122 rotate around the first rotation axis, thereby adjusting the position of the auxiliary puncture mechanism 13.

[0090] In one embodiment, in combination Figure 5 and Figure 6 As shown, a rotation hole 12312 is provided on the second adjustment component 123. The third adjustment component 124 includes a rotation shaft 1241 and a rotation block 1242. The rotation shaft 1241 is inserted into the rotation hole 12312. The output end of the third transmission cable 143 is connected to the rotation shaft 1241, and the axis of the output end of the third transmission cable 143 coincides with the axis of the rotation shaft 1241. One end of the rotation block 1242 is fixedly connected to the rotation shaft 1241, and the other end is fixedly connected to the support member 122.

[0091] Here, the third transmission cable 143 is used to transmit the rotation torque output by the power drive mechanism 15 to the rotating shaft 1241, and drive the rotating shaft 1241 to rotate, thereby driving the rotating block 1242 to rotate through the rotating shaft 1241. Therefore, the axis of the output end of the third transmission cable 143 coincides with the axis of the rotating shaft 1241, that is, the output end of the third transmission cable 143 and the rotating shaft 1241 are coaxially arranged.

[0092] The above arrangement can make the structure and driving method of the third adjusting component 124 relatively simple, thereby reducing the structural complexity of the third adjusting component 124 .

[0093] It should be noted that when the two third transmission cables 143 synchronously drive the two rotating shafts 1241 , in order to ensure that the two rotating shafts 1241 rotate in the same direction, the two third transmission cables 143 rotate at the same speed but in opposite directions.

[0094] In one embodiment, referring to Figure 2 , Figure 4 and Figure 7 As shown, the support member 122 is constructed as an arc-shaped structure. The adjustment mechanism 12 also includes a fourth adjustment component 125, which is slidably arranged on the arc-shaped structure along the extension direction of the arc-shaped structure. Here, the extension direction of the arc-shaped structure is the length direction of the arc-shaped structure. The auxiliary puncture mechanism 13 is arranged on the fourth adjustment component 125.

[0095] Furthermore, the transmission cable assembly 14 includes a fourth transmission cable 144 , an input end of the fourth transmission cable 144 is connected to the power drive mechanism 15 , and an output end of the fourth transmission cable 144 is connected to the fourth adjustment assembly 125 .

[0096] By disposing the auxiliary puncture mechanism 13 on the fourth adjustment component 125, and slidably disposing the fourth adjustment component 125 on the arc-shaped structural member, the degree of freedom of the auxiliary puncture mechanism 13 can be further improved, thereby reducing the difficulty of the interventional surgery.

[0097] In one embodiment, referring to Figure 7 and Figure 8 As shown, the fourth adjustment assembly 125 includes a fourth slider 1251 and a fourth travel wheel 1252. The fourth slider 1251 is slidably mounted on the arc-shaped structure, that is, the arc-shaped structure is equivalent to the slide rail of the fourth slider 1251. In one example, the fourth slider 1251 is provided with a fourth slide groove (not shown), and a part of the structure of the arc-shaped structure is embedded in the fourth slide groove.

[0098] Further, the fourth walking wheel 1252 is rotatably arranged on the fourth slider 1251. The walking surface of the fourth walking wheel 1252 contacts the arc surface of the arc-shaped structural member. The output end of the fourth transmission cable 144 is connected to the fourth walking wheel 1252. Here, the fourth transmission cable 144 is used to transmit the rotational torque output by the power drive mechanism 15 to the fourth walking wheel 1252. The axis of the output end of the fourth transmission cable 144 coincides with the axis of the fourth walking wheel 1252, that is, the output end of the fourth transmission cable 144 is coaxially arranged with the fourth walking wheel 1252. In this way, it can be ensured that the fourth transmission cable 144 can drive the fourth walking wheel 1252 to rotate around its own axis while rotating around its own axis.

[0099] The above arrangement can make the structure and driving mode of the fourth adjustment component 125 relatively simple, and reduce the structural complexity of the fourth adjustment component 125. Specifically, the torque output by the power drive mechanism 15 is transmitted to the input end of the fourth transmission cable 144, and the fourth transmission cable 144 rotates around its own axis, and then the fourth transmission cable 144 drives the fourth running wheel 1252 to rotate through the output end, and the fourth running wheel 1252 contacts the arc surface of the arc structure during the rotation process, and the reaction force applied by the arc structure to the fourth running wheel 1252 causes the fourth slider 1251 to slide along the extension direction of the arc structure.

[0100] In one embodiment, referring to Figure 8 As shown, the auxiliary puncture mechanism 13 includes two rollers 131 that are parallel to each other and spaced apart. The interventional instrument 20 is used to be assembled between the two rollers 131. The adjustment mechanism 12 also includes a fifth transmission cable 145, and the output end of the fifth transmission cable 145 is transmission-connected to at least one roller 131. In this way, the fifth transmission cable 145 can drive the roller 131 to rotate, so that the interventional instrument 20 can move along its own axial direction.

[0101] In one example, the output end of the fifth transmission cable 145 is in transmission connection with a drum 131 , and the rotation of the fifth transmission cable 145 drives the drum 131 to rotate.

[0102] In another example, the auxiliary puncture mechanism 13 further includes a transmission assembly 132 disposed between the fifth transmission cable 145 and the roller 131. The transmission assembly 132 includes two gears meshing with each other, the two gears having the same diameter, one of the gears being coaxially connected to one roller 131, and the other gear being coaxially connected to the other roller 131. The output end of the fifth transmission cable 145 is coaxially connected to one of the gears. In this way, the rotation of the fifth transmission cable 145 can drive the two rollers 131 to rotate simultaneously, and the rotation directions of the two rollers 131 are opposite.

[0103] In one embodiment, the auxiliary puncture mechanism 13 further includes a guide frame 133, and the guide frame 133 is disposed on the fourth slider 1251. The interventional instrument 20 is inserted into the guide frame 133, so that the positioning accuracy of the interventional instrument 20 can be guaranteed.

[0104] In one embodiment, the power drive mechanism 15 includes a first drive member (not shown), a second drive member (not shown), a third drive member (not shown), a fourth drive member (not shown) and a fifth drive member (not shown).

[0105] Among them, the output end of the first driving member is transmission-connected with the input end of the first transmission cable 141. The first driving member is used to drive the first transmission cable 141 to rotate around its own axis. The output end of the second driving member is transmission-connected with the input end of the second transmission cable 142. The second driving member is used to drive the second transmission cable 142 to rotate around its own axis. The output end of the third driving member is transmission-connected with the input end of the third transmission cable 143. The third driving member is used to drive the third transmission cable 143 to rotate around its own axis. The output end of the fourth driving member is transmission-connected with the input end of the fourth transmission cable 144. The fourth driving member is used to drive the fourth transmission cable 144 to rotate around its own axis. The output end of the fifth driving member is transmission-connected with the input end of the fifth transmission cable 145. The fifth driving member is used to drive the fifth transmission cable 145 to rotate around its own axis. In one example, the first driving member, the second driving member, the third driving member, the fourth driving member and the fifth driving member are rotating motors. In this way, the first transmission cable 141, the second transmission cable 142, the third transmission cable 143, the fourth transmission cable 144 and the fifth transmission cable 145 can be driven respectively.

[0106] In one embodiment, referring to Fig. 9 As shown, the power drive mechanism 15 also includes a power box 151, and the first drive member, the second drive member, the third drive member, the fourth drive member and the fifth drive member are all arranged in the power box 151. The power box 151 is provided with an electrical interface 155, which facilitates the connection of external power source to the power box 151.

[0107] In one embodiment, the power drive mechanism 15 also includes a first transmission box 152, a second transmission box 153 and a third transmission box 154, wherein the first driving member drives the two first transmission ropes 141 to rotate through the first transmission box 152, the second driving member drives the two second transmission ropes 142 to rotate through the second transmission box 153, and the third driving member drives the two third transmission ropes 143 to rotate through the third transmission box 154.

[0108] In one example, the first transmission box 152 is provided with two gears meshing with each other, the two gears have the same diameter, one gear is coaxially connected to one first transmission cable 141, and the other gear is coaxially connected to another first transmission cable 141. The output end of the first driving member is coaxially connected to one of the gears. In this way, the first driving member can drive the two first transmission cables 141 to rotate simultaneously, and the rotation directions of the two first transmission cables 141 are opposite.

[0109] It is understandable that the configuration of the second transmission box 153 and the third transmission box 154 may be the same as the configuration of the first transmission box 152 , and the embodiments of the present application will not be described in detail herein.

[0110] In one embodiment, referring to Figure 2As shown, the positioning frame 11 includes a frame body 111 and positioning pins 112, and the adjustment mechanism 12 is arranged on the frame body 111. The positioning pins 112 are arranged on the frame body 111. The positioning pins 112 are used to fix the frame body 111 to the patient's surgical site. In one example, the frame body 111 can be a U-shaped structure. It is understandable that the number of positioning pins 112 can be multiple, and the embodiment of the present application does not limit the number of positioning pins 112.

[0111] In this way, the automatic intervention device 10 can be fixed to the patient's head 30 while ensuring high stability, thereby ensuring the safety of the operation.

[0112] In one embodiment, the center of the line connecting the two rotating shafts 1241 is the fixed point of the interventional instrument 20, so that it can be ensured that during the adjustment process of the adjustment mechanism 12, the end of the interventional instrument 20 is always located at the fixed point.

[0113] In the embodiment of the present application, the first transmission rope 141, the second transmission rope 142, the third transmission rope 143, the fourth transmission rope 144 and the fifth transmission rope 145 are all slender ropes, which are both flexible and rigid, and can transmit rotational motion around its own axis at the output end while bending in its own shape.

[0114] The automatic intervention device 10 provided in the embodiment of the present application, on the one hand, does not need to manually adjust the adjustment mechanism 12, which is not only beneficial to improving the adjustment efficiency, but also beneficial to making the adjustment accuracy of the posture of the auxiliary puncture mechanism 13 higher; on the other hand, the power drive mechanism 15 containing electronic components can be placed at a position far away from the magnetic resonance area, reducing the interference of the power source on the magnetic resonance imaging, and improving the magnetic compatibility of the automatic intervention device 10, thereby improving the surgical efficiency and reducing the surgical risk; on the other hand, the structure is simple and lightweight, and has high magnetic compatibility.

[0115] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0116] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. An automatic intervention device, characterized in that: include: Positioning frame (11); An adjusting mechanism (12) is arranged on the positioning frame (11); An auxiliary puncture mechanism (13) is arranged on the adjustment mechanism (12); the auxiliary puncture mechanism (13) is used to assemble the interventional instrument (20); A transmission cable assembly (14) and a power drive mechanism (15), wherein the transmission cable assembly (14) is connected between the adjustment mechanism (12) and the power drive mechanism (15), and the transmission cable assembly (14) is used to transmit the force output by the power drive mechanism (15) to the adjustment mechanism (12) so as to adjust the position of the auxiliary puncture mechanism (13) relative to the positioning frame (11); the power drive mechanism (15) is used to be configured in a magnetically compatible environment.

2. The automatic intervention device according to claim 1, characterized in that: The regulating mechanism (12) comprises: Two first adjustment components (121) are respectively located on opposite sides of the positioning frame (11); each of the first adjustment components (121) can be slidably arranged on the positioning frame (11) along a first direction; A support member (122), wherein two ends of the support member (122) are respectively arranged on the two first adjustment components (121); the auxiliary puncture mechanism (13) is arranged on the support member (122); The transmission cable assembly (14) comprises two first transmission cables (141), the input ends of the two first transmission cables (141) are both connected to the power drive mechanism (15), and the output ends of the two first transmission cables (141) are respectively connected to the two first adjustment assemblies (121).

3. The automatic intervention device according to claim 2, characterized in that: The positioning frame (11) is provided with a first guide rail (161); The first adjustment component (121) comprises: A first sliding block (1211) is arranged on the first guide rail (161); a first assembly groove (12111) is arranged on the first sliding block (1211), and the first assembly groove (12111) penetrates at least a portion of the first sliding block (1211), so that a portion of the surface of the first guide rail (161) is exposed in the groove cavity of the first assembly groove (12111); The first running wheel (1212) is rotatably disposed in the first assembly groove (12111) and is in contact with the first guide rail (161); the input end of the first transmission cable (141) is connected to the power drive mechanism (15), and the output end of the first transmission cable (141) is connected to the first running wheel (1212); the axis of the output end of the first transmission cable (141) coincides with the axis of the first running wheel (1212).

4. The automatic intervention device according to claim 2, characterized in that: The adjusting mechanism (12) further comprises two second adjusting components (123), the two second adjusting components (123) correspond to the two first adjusting components (121) one by one, and each second adjusting component (123) can be slidably arranged on the corresponding first adjusting component (121) along a second direction; the two ends of the supporting member (122) are respectively arranged on the two second adjusting components (123); the second direction intersects with the first direction; The transmission cable assembly (14) comprises two second transmission cables (142), the input ends of the two second transmission cables (142) are both connected to the power drive mechanism (15), and the output ends of the two second transmission cables (142) are respectively connected to the two second adjustment assemblies (123).

5. The automatic intervention device according to claim 4, characterized in that: The first adjustment component (121) is provided with a second guide rail (162); The second adjustment component (123) comprises: A second sliding block (1231) is arranged on the second guide rail (162); a second assembly groove (12311) is arranged on the second sliding block (1231), and the second assembly groove (12311) penetrates at least a part of the second sliding block (1231), so that a part of the surface of the second guide rail (162) is exposed in the groove cavity of the second assembly groove (12311); The second walking wheel (1232) is rotatably disposed in the second assembly groove (12311) and is in contact with the second guide rail (162); the input end of the second transmission cable (142) is connected to the power drive mechanism (15), and the output end of the second transmission cable (142) is connected to the second walking wheel (1232); the axis of the output end of the second transmission cable (142) coincides with the axis of the second walking wheel (1232).

6. The automatic intervention device according to claim 4, characterized in that: The adjustment mechanism (12) further comprises two third adjustment components (124), the two third adjustment components (124) correspond to the two second adjustment components (123) one by one, each of the third adjustment components (124) is rotatably arranged on the corresponding second adjustment component (123) around a first rotation axis; the two ends of the support member (122) are respectively arranged on the two third adjustment components (124); the first rotation axis intersects with the first direction and intersects with the second direction; The transmission cable assembly (14) comprises two third transmission cables (143), the input ends of the two third transmission cables (143) are connected to the power drive mechanism (15), and the output ends of the two third transmission cables (143) are respectively connected to the two third adjustment assemblies (124).

7. The automatic intervention device according to claim 6, characterized in that: The second adjustment component (123) is provided with a rotation hole (12312); The third adjustment component (124) includes: A rotating shaft (1241) is inserted into the rotating hole (12312); the output end of the third transmission cable (143) is connected to the rotating shaft (1241), and the axis of the output end of the third transmission cable (143) coincides with the axis of the rotating shaft (1241); The rotating block (1242) has one end fixedly connected to the rotating shaft (1241) and the other end fixedly connected to the supporting member (122).

8. The automatic intervention device according to claim 6, characterized in that: The support member (122) is constructed as an arc-shaped structural member; The adjusting mechanism (12) further comprises a fourth adjusting component (125), wherein the fourth adjusting component (125) is slidably arranged on the arc-shaped structural member along the extension direction of the arc-shaped structural member; the auxiliary puncture mechanism (13) is arranged on the fourth adjusting component (125); The transmission cable assembly (14) comprises a fourth transmission cable (144), the input end of the fourth transmission cable (144) being connected to the power drive mechanism (15), and the output end of the fourth transmission cable (144) being connected to the fourth adjustment assembly (125).

9. The automatic intervention device according to claim 8, characterized in that: The fourth adjustment component (125) comprises: A fourth sliding block (1251) is slidably mounted on the arc-shaped structural member; The fourth walking wheel (1252) is rotatably arranged on the fourth slider (1251); the walking surface of the fourth walking wheel (1252) contacts the arc surface of the arc-shaped structural member; the output end of the fourth transmission cable (144) is connected to the fourth walking wheel (1252), and the axis center of the output end of the fourth transmission cable (144) coincides with the axis center of the fourth walking wheel (1252).

10. The automatic intervention device according to claim 8, characterized in that: The auxiliary puncture mechanism (13) comprises two rollers (131) which are parallel to each other and spaced apart; the interventional instrument (20) is used to be assembled between the two rollers (131); The adjustment mechanism (12) further comprises a fifth transmission cable (145), the output end of the fifth transmission cable (145) being transmission-connected to at least one roller (131).

11. The automatic intervention device according to claim 10, characterized in that: The power drive mechanism (15) comprises: A first driving member, wherein the output end of the first driving member is drivingly connected to the input end of the first transmission cable (141); the first driving member is used to drive the first transmission cable (141) to rotate around its own axis; A second driving member, wherein the output end of the second driving member is drivingly connected to the input end of the second transmission cable (142); the second driving member is used to drive the second transmission cable (142) to rotate around its own axis; A third driving member, the output end of which is drivingly connected to the input end of the third transmission cable (143); the third driving member is used to drive the third transmission cable (143) to rotate around its own axis; A fourth driving member, the output end of which is drivingly connected to the input end of the fourth transmission cable (144); the fourth driving member is used to drive the fourth transmission cable (144) to rotate around its own axis; A fifth driving member, the output end of which is drivingly connected to the input end of the fifth transmission cable (145); the fifth driving member is used to drive the fifth transmission cable (145) to rotate around its own axis.

12. The automatic intervention device according to any one of claims 1 to 11, characterized in that: The positioning frame (11) comprises: A frame (111), wherein the adjustment mechanism (12) is arranged on the frame (111); A positioning pin (112) is arranged on the frame (111); the positioning pin (112) is used to fix the frame (111) to the patient's surgical site.

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