X-ray guided surgical positioning device
By designing an X-ray-guided surgical positioning device, using an arc-shaped movement mechanism and a lateral swing mechanism, combined with X-rays, the problem of difficulty in lesion positioning in minimally invasive surgery is solved, and cost-effective surgical positioning is achieved.
Patent Information
- Application Number
- CN202420005095.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-01-02
- Publication Date
- 2025-04-29
- Estimated Expiration
- 2034-01-02
AI Technical Summary
In minimally invasive surgery, it is difficult to accurately locate the lesions, and the existing surgical robots are costly and have low penetration rates, and there is a lack of economical and applicable solutions.
An X-ray-guided surgical positioning device is designed, including an arc-shaped movement mechanism and a lateral swing mechanism. The combination of an arc-shaped movement mechanism and a lateral swing mechanism is used to achieve surgical positioning with an X-ray of the positive side position.
The surgical positioning using X-ray guidance is achieved, and the cost is much lower than that of the surgical robot, which is easy to promote and apply, and meets the needs of accurate positioning in minimally invasive surgery.
Smart Images
Figure CN222804327U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a medical device, in particular to an X-ray guided surgical positioning device. Background Art
[0002] In minimally invasive surgery, puncture of the lesion is often necessary. Since the lesion cannot be seen visually, accurate positioning of the lesion becomes an important factor in the success of minimally invasive surgery. Surgical robots use tracking technology and robotic arms to achieve accurate positioning, but surgical robots are expensive and have a low penetration rate. Summary of the invention
[0003] The utility model aims to provide an economical and applicable surgical positioning device.
[0004] The utility model adopts the following technical solutions: an X-ray guided surgical positioning device, comprising an arc motion mechanism and a lateral swing mechanism, the arc motion mechanism comprising an arc arm and a moving assembly, the moving assembly can make circular arc motion relative to the arc arm, the arc arm is installed on the output end of the lateral swing mechanism; the central axis of the lateral swing mechanism has a cavity structure, which is conducive to the passage of X-rays; the arc motion mechanism can rotate relative to the central axis along with the output end of the lateral swing mechanism.
[0005] Furthermore, it also includes a three-way moving mechanism, and the lateral swing mechanism is installed on the three-way moving mechanism.
[0006] Furthermore, it also includes a needle guide assembly, which is detachably mounted on the arc motion mechanism.
[0007] Furthermore, the arc motion mechanism includes an arc arm and a moving component. The moving component can perform an arc motion relative to the arc arm. The arc arm is installed at the output end of the lateral swing mechanism.
[0008] Furthermore, the lateral swing mechanism includes a box assembly, a central axis, and a rotating assembly. The rotating assembly includes a worm and a worm wheel. The worm wheel can rotate along the central axis. The arc arm of the arc motion subassembly is connected to the output end of the rotating assembly.
[0009] Furthermore, the three-way moving mechanism includes a forward and backward moving linear guide assembly, an upward and downward moving linear guide assembly, and a leftward and rightward moving linear guide assembly.
[0010] Furthermore, the lateral swing mechanism also includes a swing angle display, and the arc motion mechanism also includes an arc rotation angle display.
[0011] In order to make the central axis of the lateral swing mechanism have a cavity structure, preferably, the central axis of the lateral swing mechanism is a hollow axis.
[0012] In order to make the central shaft of the lateral swing mechanism have a hollow structure, optionally, the central shaft of the lateral swing mechanism is a semi-hollow shaft, and the semi-hollow shaft is made of carbon fiber material.
[0013] The working process of the utility model is described as follows.
[0014] The patient lies flat on the operating table (for the convenience of description, the subsequent description involving the patient's lying position is assumed to be that of the patient), and the base of the three-way movable mechanism of the utility model is installed on the side of the operating table; then, the doctor estimates and adjusts the overall position of the lateral swing mechanism and the arc motion mechanism through the three-way movable mechanism, and then adjusts the lateral swing mechanism and the arc motion mechanism respectively, and installs the needle guide assembly on the arc motion mechanism.
[0015] Next, the C-arm is used to take a lateral X-ray of the patient. Since the central axis of the lateral swing mechanism has a cavity structure that is conducive to the passage of X-rays, the utility model does not affect the lateral X-ray.
[0016] When it is necessary to take an anteroposterior X-ray film, the lateral swing mechanism is driven to make the arc motion mechanism swing slightly as a whole, so that the arc motion mechanism does not block the X-ray, and an anteroposterior X-ray film can be taken for the patient.
[0017] After taking an X-ray, the doctor determines whether the positioning meets the medical requirements based on whether the needle guide assembly in the X-ray is pointing to the lesion. If it meets the medical requirements, the doctor can perform subsequent surgical operations; if it does not meet the medical requirements, the doctor continues to adjust the three-way moving mechanism, the lateral swing mechanism, and the arc motion mechanism until it meets the medical requirements, and then perform subsequent surgical operations.
[0018] From the above, it can be seen that the utility model achieves the purpose of surgical positioning by adjusting the lateral swing mechanism and the arc motion mechanism in combination with the frontal and lateral X-rays; its beneficial effect is that the utility model can realize the use of X-rays to guide surgical positioning, and its cost is much lower than that of surgical robots, which is easy to promote and apply. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 It is a schematic diagram of embodiment 1.
[0020] Figure 2 for Figure 1 Schematic diagram of the front view.
[0021] Figure 3 for Figure 1 Schematic diagram after rotation 180°.
[0022] Figure 4 for Figure 1 , which is a partial schematic diagram of the arc motion mechanism of Example 1.
[0023] Figure 5 for Figure 4 Schematic diagram after removing some parts.
[0024] Figure 6 for Figure 5 Schematic diagram after removing some parts.
[0025] Figure 7 for Figure 1 The partial schematic diagram is a schematic diagram of the lateral swing mechanism of the first embodiment.
[0026] Figure 8 for Figure 7 Schematic diagram after removing some parts.
[0027] Fig. 9 for Figure 7 A partial cross-sectional schematic diagram of .
[0028] Fig.10 for Figure 3 , which is a partial schematic diagram of the three-way moving mechanism of Example 1.
[0029] Fig.11 for Fig.10 Schematic diagram of the front view.
[0030] Fig.12 This is a schematic diagram of the first embodiment when it is working.
[0031] Fig.13 FIG. 2 is another schematic diagram of the first embodiment when it is working.
[0032] Fig.14 It is a schematic diagram of an improvement on the first embodiment.
[0033] Fig.15 It is a schematic diagram of another improvement to the first embodiment. Implementation
[0034] The implementation modes of the present utility model are now described with reference to the accompanying drawings.
[0035] Figure 1 It is a schematic diagram of embodiment 1.
[0036] exist Figure 1In the figure, 1 is an arc motion mechanism, 2 is a lateral swing mechanism, 3 is a three-way moving mechanism, and 4 is a needle guide assembly. The arc motion mechanism 1 is mounted on the lateral swing mechanism 2, and the lateral swing mechanism 2 is mounted on the three-way moving mechanism 3. The needle guide assembly 4 is mounted on the arc motion mechanism 1. The needle guide assembly 4 includes a needle guide plate 41, a needle guide cylinder 42, and a needle guide screw 43. The needle guide cylinder 42 has a hollow tubular structure, and the needle guide cylinder 42 is fixedly mounted on the needle guide plate 41. The needle guide screw 43 mounts the needle guide plate 41 on the arc motion mechanism 1. 38 is a front and rear drive bolt of the three-way moving mechanism 3.
[0037] Figure 2 for Figure 1 Schematic diagram of the front view.
[0038] exist Figure 2 In the figure, 1 is an arc motion mechanism, 2 is a lateral swing mechanism, 3 is a three-way moving mechanism, and 4 is a needle guide assembly. 11 is an arc arm, and the arc arm 11 has an outer tooth 111 and an arc groove 112. The arc arm 11 belongs to the arc motion mechanism 1.
[0039] Figure 3 for Figure 1 Schematic diagram after rotation 180°.
[0040] exist Figure 3 In the figure, 1 is an arc motion mechanism, 2 is a lateral swing mechanism, and 3 is a three-way moving mechanism. 11 is an arc arm, 16 is a fixing bolt, 251 is an output end of the lateral swing mechanism, screw 17 mounts the arc arm 11 on the output end 251 of the lateral swing mechanism, and 19 is a hand wheel; the arc arm 11, fixing bolt 16, screw 17, and hand wheel 19 belong to the arc motion mechanism 1. 28 is a worm handle, which belongs to the lateral swing mechanism 2.
[0041] Figure 4 for Figure 1 , which is a partial schematic diagram of the arc motion mechanism of Example 1.
[0042] exist Figure 4 In the figure, 1 is an arc motion mechanism, 11 is an arc arm, the arc arm 11 has external teeth 111 and an arc groove 112, 12 is a sliding block, 13 is a cushion block, screw 131 installs the cushion block 13 on the sliding block 12, 14 is a cover plate, screw 141 installs the cover plate 14 on the sliding block 12, 15 is an arc rotation angle display, screw 151 installs the arc rotation angle display 15 on the sliding block 12, 16 is a fastening bolt, and screw 17 installs the arc arm 11 on the lateral swing mechanism.
[0043] Figure 5 for Figure 4 The schematic diagram after some parts are removed is a schematic diagram after the cushion block 13 and the cover plate 14 are removed.
[0044] exist Figure 5 In the figure, 111 is an outer tooth, 112 is an arc groove, 12 is a sliding block, 121 is a guide portion of the slider 12, and the guide portion 121 is used to be installed in the arc groove 112 so that the sliding block 12 can slide along the arc groove 112; 16 is a fastening bolt, 18 is a pinion, and both ends of the shaft of the pinion 18 are respectively installed on the sliding block 12 and the cover plate 14 (refer to Figure 4 ). The pinion 18 is meshed with the outer teeth 111. When the pinion 18 is rotated, the sliding block 12 can be driven to move in an arc shape along the arc arm 11.
[0045] Figure 6 for Figure 5 Schematic diagram after removing some parts.
[0046] exist Figure 6 In the figure, 12 is a sliding block, 121 is a guide portion of the sliding block 12, 16 is a set bolt, 18 is a pinion, and 19 is a hand wheel. The hand wheel 19 is connected to the shaft of the pinion 18, and the hand wheel 19 is used to drive the pinion 18 to rotate. The set bolt 16 is installed on the sliding block 12, and is used to press the shaft of the pinion 18 when the pinion 18 moves to a suitable position to prevent the sliding block 12 from sliding freely.
[0047] Figure 7 for Figure 1 The partial schematic diagram is a schematic diagram of the lateral swing mechanism of the first embodiment.
[0048] exist Figure 7 In the figure, 2 is a lateral swing mechanism. 21 is a box body, 22 is a box cover, and screws 221 connect the box body 21 and the box cover 22 together. The box body 21, the box cover 22, and the screws 221 constitute a box assembly. 381 is a threaded hole for connecting with a three-way moving mechanism (see Fig.10 ).
[0049] Figure 8 for Figure 7 The schematic diagram after some parts are removed is a schematic diagram after the box cover 22 is removed.
[0050] exist Figure 8In the figure, 21 is a housing, 23 is a worm wheel, 24 is a worm, 25 is a worm wheel coupling block, 26 is a central axis, 27 is a worm support plate, and 28 is a worm handle. The worm wheel 23 is fixed together with the worm wheel coupling block 25 and mounted on the central axis 26; the worm wheel 23 can rotate along the central axis 26. The worm wheel 23, the worm 24, and the worm wheel coupling block 25 constitute a rotating assembly. The worm wheel coupling block 25 has an end 251, and a swing angle display 252 is mounted on the end 251. The end 251 is the output end of the rotating assembly and also the output end of the lateral swing mechanism. Obviously, the arc motion mechanism 1 can rotate relative to the central axis 26 with the end 251. The two ends of the worm 24 are supported on the worm support plate 27, and the screw 271 mounts the worm support plate 27 on the housing 21. 211 is a housing mounting screw, which is used to mount the housing 21 on the three-way moving mechanism. The axis of the central shaft 26 is roughly parallel to the horizontal plane, so 2 is called a "lateral" swing mechanism; after each use of this embodiment, it is recommended to return to the position as shown in FIG. Figure 8 The end 251 is shown in an upward position, so 2 is called a lateral "swing" mechanism.
[0051] Fig. 9 for Figure 7 A partial cross-sectional schematic diagram of .
[0052] exist Fig. 9 In the figure, 21 is a box body, 22 is a box cover, 23 is a worm wheel, 25 is a worm wheel coupling block, 26 is a central shaft, 291 and 292 are gaskets, and the central shaft 26 has a hollow shaft-type cavity structure. Gaskets 291 and 292 are installed on the central shaft 26 to reduce friction. The worm wheel coupling block 25 has an end 251.
[0053] Fig.10 for Figure 3 , which is a partial schematic diagram of the three-way moving mechanism of Example 1.
[0054] exist Fig.10 In the figure, 3 is a three-way moving mechanism. 31 is a base, 311 is a clamping bolt, and 312 is a groove of the base 31, which is used to clamp the utility model on the side of the operating table when the utility model is used. 33 is an upper and lower slide plate, and 331 is a mounting screw for the upper and lower slide plates; 35 is a left and right slide plate, and 351 is a mounting screw for the left and right slide plates; 361 is a front and rear slide rail, and 362 is a front and rear slider, and the front and rear slide rail 361 and the front and rear slider 362 constitute a front and rear linear guide assembly; 37 is an upper and lower driving bolt, and the upper and lower driving bolt 37 passes through the base 31 and is threadedly connected to the upper and lower slide plates 33; 38 is a front and rear driving bolt, and the front and rear driving bolt 38 passes through the left and right slide plates 35 and is connected to the threaded hole 381 of the box body (refer to Figure 7); 39 are left and right drive bolts, which pass through the upper and lower slide plates 33 and are threadedly connected to the left and right slide plates 35. 211 are box mounting screws, which are used to mount the box 21 on the front and rear slide blocks 362.
[0055] Fig.11 for Fig.10 Schematic diagram of the front view.
[0056] exist Fig.11 In the figure, 31 is a base, 311 is a clamping bolt, and 312 is a groove of the base 31. 321 is an upper and lower slide rail, 322 is an upper and lower slider, and the upper and lower slide rails 321 and the upper and lower sliders 322 constitute an upper and lower linear guide assembly. 33 is an upper and lower slide plate, 331 is a mounting screw of the upper and lower slide plates, used to mount the upper and lower slide plates 33 on the upper and lower sliders 322. 341 is a left and right slide rail, 342 is a left and right slider, and the left and right slide rails 341 and the left and right sliders 342 constitute a left and right linear guide assembly. 35 is a left and right slide plate, 351 is a mounting screw of the left and right slide plates, used to mount the left and right slide plates 35 on the left and right sliders 342. 361 is a front and rear slide rail, 362 is a front and rear slider. 37 is an upper and lower drive bolt, and 39 is a left and right drive bolt. 211 is a box body mounting screw.
[0057] Fig.12 It is a schematic diagram of the first embodiment when it is working.
[0058] exist Fig.12 The utility model includes an arc motion mechanism 1, a lateral swing mechanism 2, a three-way movement mechanism 3, and a needle guide assembly 4. 5 is an operating table, and 6 is a C-arm. The operating table 5 and the C-arm 6 are both common equipment in the operating room, and the C-arm is used to take X-rays. When the patient lies flat, Fig.12 Schematic diagram of a C-arm taking a lateral X-ray of a patient.
[0059] Fig.13 FIG. 2 is another schematic diagram of the first embodiment when it is working.
[0060] exist Fig.13 The utility model comprises an arc motion mechanism 1, a lateral swing mechanism 2, a three-way moving mechanism 3, and a needle guide assembly 4. 5 is an operating table, and 6 is a C-arm. When the patient lies flat, Fig.13 Schematic diagram of a C-arm taking an AP X-ray of a patient.
[0061] The working principle of the first embodiment is described as follows.
[0062] When in use, the patient lies on the operating table, the slot 312 of the utility model is clamped on the side of the operating table, and the clamping bolt 311 is tightened (see Fig.11 , Fig.12); adjust the upper and lower drive bolts 37 to make the upper and lower slide plates 33 move up and down, adjust the left and right drive bolts 39 to make the left and right slide plates 35 move left and right, and adjust the front and rear drive bolts 38 to make the box body 21 move forward and backward, (see Fig.10 , Fig.11 , Figure 7 ), the lateral swing mechanism 2 and the arc motion mechanism 1 move up and down, front and back, and left and right as a whole.
[0063] Install the needle guide assembly 4 on the arc motion mechanism 1 (see Figure 1 ); Adjust the worm handle 28 to rotate the worm wheel 23, drive the worm wheel coupling block 25 to rotate, and the arc motion mechanism 1 rotates accordingly, and the swing angle display 252 displays the swing angle (see Figure 8 ); Adjust the hand wheel 19 to rotate the sliding block 12 along the arc arm 11, and the arc rotation angle display 15 displays the arc rotation angle (see Figure 3 , Figure 4 ).
[0064] After the above adjustment, an X-ray is taken. When a lateral X-ray is required, the C-arm is moved so that its ray emitting device faces the central axis of the lateral swing mechanism 2 (see Fig.12 ), since the central shaft 26 of the lateral swing mechanism 2 has a hollow shaft structure (see Fig. 9 ), the X-ray emitted by the C-arm can smoothly pass through the lateral swing mechanism 2, take a lateral X-ray film of the patient; when it is necessary to take an anteroposterior X-ray film, rotate the C-arm so that its ray emitting device rotates 90° relative to the lateral filming position, (see Fig.13 ), at this time, slightly rotate the worm handle 28 to make the worm wheel 23 rotate slightly, and the arc motion mechanism 1 swings slightly as a whole, so that the arc motion mechanism 1 does not block the X-ray, and the patient can be taken an X-ray AP film (from clinical practice, a small deflection of the arc motion mechanism 1 does not affect the surgical effect).
[0065] Fig.14 Schematic diagram of the improvement of the first embodiment. Fig. 9 Improved schematic diagram.
[0066] exist Fig.14 The central shaft 261 has a semi-hollow shaft-type cavity structure, and the rest Fig. 9 The central axis 261 is preferably made of carbon fiber material.
[0067] Fig.15 It is a schematic diagram of another improvement to the first embodiment.
[0068] exist Fig.15In the figure, 1 is an arc motion mechanism, 2 is a lateral swing mechanism, 3 is a three-way moving mechanism, 4 is a needle guide assembly, 7 is a trolley, and 8 is a counterweight; the three-way moving mechanism 3 is connected to the trolley 7; the trolley 7 has wheels 71, which is convenient for flexible movement. When using, it is not necessary to clamp the utility model to the edge of the operating table. Its arc motion mechanism 1, lateral swing mechanism 2, three-way moving mechanism 3, and needle guide assembly 4 are basically the same as those in Example 1.
[0069] The present utility model is only described with the above-mentioned embodiments, and the structure, setting position and connection of each component can be changed. For example, in the first embodiment, the outer shape of the arc arm is an arc-shaped structure. Of course, the outer shape of the arc arm can also be a non-arc-shaped embodiment, as long as the internal structure of the arc arm can make the moving component move in an arc shape; for example, the arc motion mechanism adopts the motion mode of external gear transmission in the first embodiment, of course, it can also adopt the motion mode of internal gear transmission, or the sliding motion mode of the moving component relative to the arc arm; for example, the lateral swing mechanism adopts the motion mode of worm gear transmission in the first embodiment, of course, it can also adopt the motion mode of friction transmission; and so on. On the basis of the technical solution of the present utility model, any improvement or equivalent transformation of individual components based on the basic principle of the present utility model should not be excluded from the protection scope of the present utility model.
Claims
1. An X-ray guided surgical positioning device, characterized in that It includes an arc motion mechanism and a lateral swing mechanism. The arc motion mechanism includes an arc arm and a moving component. The moving component can make circular arc motion relative to the arc arm. The arc arm is installed on the output end of the lateral swing mechanism. The central axis of the lateral swing mechanism has a cavity structure, which is conducive to the passage of X-rays. The arc motion mechanism can rotate relative to the central axis along with the output end of the lateral swing mechanism.
2. The X-ray guided surgical positioning device according to claim 1, characterized in that It also includes a three-way moving mechanism, and the lateral swing mechanism is installed on the three-way moving mechanism.
3. The X-ray guided surgical positioning device according to claim 1, characterized in that: It also includes a needle guide assembly, which is detachably mounted on the arc motion mechanism.
4. The X-ray guided surgical positioning device according to claim 1, characterized in that: The lateral swing mechanism includes a box assembly, a central axis, and a rotating assembly. The rotating assembly includes a worm and a worm wheel. The worm wheel can rotate along the central axis. The arc arm of the arc motion subassembly is connected to the output end of the rotating assembly.
5. The X-ray guided surgical positioning device according to claim 2, characterized in that: The three-way moving mechanism includes a forward and backward moving linear guide assembly, an upward and downward moving linear guide assembly, and a leftward and rightward moving linear guide assembly.
6. The X-ray guided surgical positioning device according to claim 1, characterized in that: The lateral swing mechanism further includes a swing angle display, and the arc motion mechanism further includes an arc rotation angle display.
7. The X-ray guided surgical positioning device according to claim 1, characterized in that: The central axis of the lateral swing mechanism is a hollow axis.
8. The X-ray guided surgical positioning device according to claim 1, characterized in that: The central axis of the lateral swing mechanism is a semi-hollow axis, and the semi-hollow axis is made of carbon fiber material.