Breast puncture system

Abstract

The utility model relates to the technical field of medical instruments, and discloses a breast puncture system which comprises a puncture needle fixedly mounted on a six-axis mechanical arm; the puncture needle acts along with operation of the six-axis mechanical arm, and puncture biopsy is carried out on a preset puncture point position on the breast according to a preset needle inserting angle; the six-axis mechanical arm is installed on the lifting assembly. The rotating assembly drives the lifting assembly to rotate around the breast; the indication laser lamp indicates a preset puncture point position on the breast; when the puncture needle carries out needle biopsy, the detector manually starts scanning, and when the puncture needle deviates from the preset puncture point position and the preset needle inserting angle, the puncture needle is manually corrected to the accurate puncture position and the accurate needle inserting angle through the six-axis mechanical arm. The six-axis mechanical arm is combined with the detector, the puncture path of the puncture needle is accurately controlled and optimized, the effect of a puncture operation is ensured, and rapid healing of a patient is promoted.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically to a breast puncture system. Background Technology

[0002] Current breast biopsy procedures suffer from limitations in puncture angle and the inability to optimize the puncture path, leading to poor healing after the procedure. Furthermore, doctors typically perform biopsies in a semi-squatting position, which restricts the procedure and is time-consuming. For example, manual punctures can take at least half an hour, making it difficult to guarantee the effectiveness of the biopsy. Utility Model Content

[0003] In view of this, the present invention provides a breast biopsy system to solve the problems of limited puncture angle and inability to optimize the puncture path during breast biopsy, which leads to difficult healing after the puncture surgery and time-consuming and laborious puncture biopsy.

[0004] This utility model provides a breast biopsy system, comprising:

[0005] Six-axis robotic arm;

[0006] A puncture needle is fixedly installed at the execution end of the six-axis robotic arm; the puncture needle is adapted to move with the operation of the six-axis robotic arm, thereby performing puncture biopsy at preset puncture points on the breast at a preset needle insertion angle;

[0007] A lifting assembly is provided, wherein the six-axis robotic arm is fixedly mounted on the lifting assembly, and the lifting assembly is adapted to drive the six-axis robotic arm to perform upward and downward movements;

[0008] A rotating component, connected to a lifting component, the rotating component being adapted to drive the lifting component to rotate around the breast;

[0009] Indicating laser light, suitable for indicating preset puncture points on the breast;

[0010] A detector, fixed to the lifting assembly, is adapted to be manually activated for scanning during puncture biopsy. When the puncture needle deviates from the preset puncture point and preset insertion angle, a six-axis robotic arm manually corrects the needle to the accurate puncture position and insertion angle. Beneficial effects: This application employs the above technical solution, using a six-axis robotic arm combined with a detector to accurately control and optimize the puncture path of the needle, ensuring the effectiveness of the puncture surgery and promoting rapid patient healing.

[0011] Optionally, the detector is signal-connected to the six-axis robotic arm; the detector is adapted to automatically scan during puncture biopsy, and automatically correct the puncture needle to the accurate puncture position and angle via the six-axis robotic arm when the puncture needle deviates from the preset puncture point and preset insertion angle. Beneficial effects: This application, by adopting the above technical solution, further automates the operation of the six-axis robotic arm and detector, saving puncture time and effort, and improving puncture efficiency and effectiveness.

[0012] Optionally, the detector includes an X-ray detector and an ultrasound detector; the X-ray detector is suitable for scanning calcifications, and the ultrasound detector is suitable for scanning breast nodules and masses. Beneficial effects: This application adopts the above technical solution, utilizing the advantages of both X-ray and ultrasound detectors to scan tissues of different breast lesions, obtaining clear images of the lesion tissue, providing accurate location and needle insertion angle for the puncture operation, and ensuring the puncture effect.

[0013] Optionally, the ultrasound detector is a two-dimensional ultrasound detector, which is suitable for scanning tumors.

[0014] Optionally, it also includes:

[0015] The horizontal laser light has an infrared receiving area at the execution end of the six-axis robotic arm. The execution end of the six-axis robotic arm is adapted to be calibrated to a position where the horizontal laser light is zero when it moves vertically to the position where the infrared receiving area senses the laser position of the horizontal laser light.

[0016] A vertical laser lamp is used, and the actuator of the six-axis robotic arm is adapted to be calibrated to a vertical zero position when it moves horizontally to the infrared receiving area and senses the laser position of the vertical laser lamp. Beneficial effect: This application adopts the above technical solution to accurately calibrate the zero position of the six-axis robotic arm, laying the foundation for accurately and reliably guiding the puncture needle.

[0017] Optionally, it also includes:

[0018] The bed board has openings, and the bed board is suitable for the patient to lie prone, with the breasts passing through the openings;

[0019] A clamping assembly, with an opening near the bottom surface of the bed board, is adapted to clamp the breast during a biopsy. Beneficial effect: This application employs the above technical solution to ensure that breast movement is prevented during the puncture process, thus avoiding inaccurate puncture.

[0020] Optionally, the clamping assembly includes:

[0021] A ring gear is fixed to the bottom surface of the bed board, and the center of the ring gear is coaxial with the opening; a ring track is provided on the bottom surface of the ring gear.

[0022] The gear meshes with the ring gear;

[0023] A first power structure is connected to the gear, and the first power structure is adapted to drive the gear to rotate.

[0024] The first slider is slidably connected to the annular track, and the first slider is fixedly connected to the first power structure;

[0025] The second power structure is fixed on the first slider;

[0026] The first clamping plate is connected to the output end of the second power structure, and the output end of the second power structure is adapted to drive the first clamping plate to extend and retract radially along the annular track;

[0027] The second clamping plate is disposed opposite to the first clamping plate;

[0028] The second slider is slidably connected to the annular track, and the second slider is fixedly connected to the first slider by a connecting rod;

[0029] A third power structure is fixed to the second slider, and the output end of the third power structure (18) is connected to the second clamping plate; the output end of the third power structure is adapted to drive the second clamping plate to extend and retract radially along the annular track, so as to cooperate with the first clamping plate to clamp or release the breast. Beneficial effect: The present application adopts the above technical solution, specifically defining the structure of the clamping assembly, which can rotate and slide the first clamping plate and the second clamping plate to a position that does not affect the detector scanning and puncture needle puncture according to the position of the puncture needle and the detector, ensuring that the puncture operation is carried out smoothly.

[0030] Optionally, the rotating component includes:

[0031] Bearing stator structure;

[0032] The bearing rotor structure is rotatably connected to the bearing stator structure;

[0033] A fourth power structure is connected to the bearing rotor structure, and the fourth power structure is adapted to drive the bearing rotor structure to rotate.

[0034] The slip ring structure is connected to both the bearing rotor structure and the lifting assembly, and is adapted to rotate with the rotation of the bearing rotor structure. Beneficial effects: This application employs the above technical solution, facilitating the rotation of the puncture needle and detector to adapt to the location of lesions on the breast.

[0035] Optionally, the lifting assembly includes:

[0036] A fifth power structure, adapted for rotation, and said fifth power structure is connected to the rotating assembly;

[0037] A lead screw is arranged vertically and is connected to the fifth power structure;

[0038] Nut, threadedly connected to the lead screw;

[0039] The platform, on which the detector is fixed; and the nut is fixedly connected to the platform.

[0040] Multiple guide posts are arranged vertically, with their bottom ends fixed to the rotating assembly, and the guide posts are slidably connected to the platform. Beneficial effect: This application adopts the above technical solution, which facilitates the raising and lowering of the puncture needle and detector to adapt to the height of the lesion on the breast.

[0041] Optionally, the X-ray detector includes:

[0042] The X-ray source is fixed on the lifting assembly;

[0043] An X-ray detector is fixed on the lifting assembly, and the X-ray detector is positioned opposite to the X-ray source; the breast is located between the X-ray detector and the X-ray source. Attached Figure Description

[0044] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0045] Figure 1 This is a partial three-dimensional structural diagram of the breast puncture system provided in the embodiments of this utility model. Figure 1 ;

[0046] Figure 2 This is a schematic diagram of the three-dimensional combination structure of the six-axis robotic arm and puncture needle provided in the embodiment of this utility model;

[0047] Figure 3 This is a partial three-dimensional structural diagram of the clamping assembly provided in the embodiments of this utility model. Figure 1 ;

[0048] Figure 4 This is a partial three-dimensional structural diagram of the clamping assembly provided in the embodiments of this utility model. Figure 2 ;

[0049] Figure 5This is a partial three-dimensional structural diagram of the clamping assembly provided in the embodiments of this utility model. Figure 3 ;

[0050] Figure 6 This is a partial three-dimensional structural diagram of the breast puncture system provided in the embodiments of this utility model. Figure 2 ;

[0051] Figure 7 This is a partial three-dimensional structural diagram of the breast puncture system provided in the embodiments of this utility model. Figure 3 .

[0052] Explanation of reference numerals in the attached figures:

[0053] 1. Six-axis robotic arm; 2. Puncture needle; 3. Lifting assembly; 4. Rotating assembly; 5. Bed board; 6. Opening; 7. Clamping assembly; 8. Ring gear; 9. Ring track; 10. First power structure; 11. Gear; 12. First slider; 13. Second power structure; 14. First clamping plate; 15. Second clamping plate; 16. Second slider; 17. Connecting rod; 18. Third power structure; 19. Slip ring structure; 20. Fifth power structure; 21. Lead screw; 22. Nut; 23. Platform; 24. Guide column; 25. X-ray source; 26. X-ray detector; 27. Base plate; 28. Support plate; 29. ​​Bearing; 30. Coupling; 31. X-ray; 32. First support; 33. Second support; 34. Third support. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0055] like Figures 1 to 7 One specific embodiment of the breast biopsy system shown includes: a six-axis robotic arm 1, a puncture needle 2, a lifting assembly 3, a rotating assembly 4, an indicator laser, a detector, a horizontal laser, a vertical laser, a bed 5, and a clamping assembly 7.

[0056] like Figure 1 and Figure 2As shown, the puncture needle 2 is fixedly mounted on the execution end of the six-axis robotic arm 1; the puncture needle 2 is adapted to move with the operation of the six-axis robotic arm 1, thereby performing puncture biopsy at a preset puncture point on the breast according to a preset needle insertion angle. The six-axis robotic arm 1 is fixedly mounted on the lifting assembly 3, and the lifting assembly 3 is adapted to drive the six-axis robotic arm 1 to perform upward and downward movements. The rotating assembly 4 is connected to the lifting assembly 3, and the rotating assembly 4 is adapted to drive the lifting assembly 3 to rotate around the breast. The indicator laser is adapted to indicate the preset puncture point on the breast. The detector is fixed on the lifting assembly 3, and the detector is adapted to manually start scanning when the puncture needle 2 is performing puncture biopsy, and to manually correct the puncture needle 2 to the accurate puncture position and needle insertion angle by using the six-axis robotic arm 1 when the puncture needle 2 deviates from the preset puncture point and preset needle insertion angle. When the puncture needle 2 reaches the depth of the puncture point, sampling begins. After confirming that the sampling is correct, the puncture needle 2 is withdrawn, the puncture ends, and the doctor completes the remaining wound operation. The six-axis robotic arm 1 has an infrared receiving area at its execution end. When the execution end of the six-axis robotic arm 1 moves vertically to the position where the infrared receiving area senses the laser position of a horizontal laser, it is calibrated to a position with zero horizontal movement. The execution end of the six-axis robotic arm 1 is also calibrated to a position with zero vertical movement when it moves horizontally to the position where the infrared receiving area senses the laser position of a vertical laser. The bed board 5 has an opening 6, which is suitable for the patient to lie prone, with the breast passing through the opening 6. The clamping assembly 7 is located near the opening 6 on the bottom surface of the bed board 5, and is adapted to clamp the breast during a biopsy.

[0057] Furthermore, the detector is signal-connected to the six-axis robotic arm 1; the detector is adapted to automatically scan during puncture biopsy using the puncture needle 2, and automatically correct the puncture needle 2 to the accurate puncture position and angle via the six-axis robotic arm 1 when the puncture needle 2 deviates from the preset puncture point and preset insertion angle. Specifically, the detector scan is automatically triggered when the puncture needle 2 contacts the breast epidermis and each time the insertion depth increases by 5 mm.

[0058] Specifically, the detector includes an X-ray detector and an ultrasound detector; the X-ray detector is suitable for scanning calcifications, and the ultrasound detector is suitable for scanning breast nodules and masses; more specifically, the ultrasound detector is a two-dimensional ultrasound detector, which is suitable for scanning tumors. The two-dimensional ultrasound detector can perform B-mode ultrasound detection.

[0059] like Figures 3 to 5As shown, the clamping assembly 7 includes: a ring gear 8, a gear 11, a first power structure 10, a first slider 12, a second power structure 13, a first clamping plate 14, a second clamping plate 15, a second slider 16, and a third power structure 18. The ring gear 8 is fixed to the bottom surface of the bed plate 5, and its center is coaxial with the opening 6; an annular track 9 is provided on the bottom surface of the ring gear 8. The gear 11 meshes with the ring gear 8. The first power structure 10 is connected to the gear 11 and is adapted to drive the gear 11 to rotate; specifically, the first power structure 10 can be a rotary motor. The first slider 12 is slidably connected to the annular track 9, and is fixedly connected to the first power structure 10. The second power structure 13 is fixed to the first slider 12. The first clamping plate 14 is connected to the output end of the second power structure 13, and the output end of the second power structure 13 is adapted to drive the first clamping plate 14 to extend and retract radially along the annular track 9; specifically, the second power structure 13 can be a linear motor. The second clamping plate 15 is disposed opposite to the first clamping plate 14. The second slider 16 is slidably connected to the annular track 9, and the second slider 16 is fixedly connected to the first slider 12 via a connecting rod 17. The third power structure 18 is fixed to the second slider 16, and the output end of the third power structure 18 is connected to the second clamping plate 15; the output end of the third power structure 18 is adapted to drive the second clamping plate 15 to extend and retract radially along the annular track 9, so as to cooperate with the first clamping plate 14 to clamp or release the breast. Specifically, the third power structure 18 can be a linear motor.

[0060] like Figure 1 , Figure 6 and Figure 7 As shown, the rotating assembly 4 includes: a bearing stator structure, a bearing rotor structure, a fourth power structure, and a slip ring structure 19. The bearing rotor structure is rotatably connected to the bearing stator structure. The fourth power structure is connected to the bearing rotor structure and is adapted to drive the bearing rotor structure to rotate; specifically, the fourth power structure can be a rotary motor. The slip ring structure 19 is connected to both the bearing rotor structure and the lifting assembly 3, and is adapted to rotate with the rotation of the bearing rotor structure. The bearing stator structure can be mounted on the base plate 27.

[0061] like Figure 1 , Figure 6 and Figure 7As shown, the lifting assembly 3 includes: a fifth power structure 20, a lead screw 21, a nut 22, a platform 23, and multiple guide posts 24. The fifth power structure 20 is adapted to rotate and is connected to the rotating assembly 4. Specifically, the fifth power structure 20 is fixed to the slip ring structure 19 of the rotating assembly 4 via a first bracket 32, and the fifth power structure 20 can rotate the motor. The lead screw 21 is arranged vertically and is connected to the fifth power structure 20; specifically, the lead screw 21 and the fifth power structure 20 are connected via a coupling 30. The nut 22 is threadedly connected to the lead screw 21. The detector is fixed to the platform 23; and the nut 22 is fixedly connected to the platform 23. The multiple guide posts 24 are arranged vertically, with their bottom ends fixedly mounted on the rotating assembly 4, and are slidably connected to the platform 23. A support plate 28 is provided above the lifting assembly 3. The support plate 28 is horizontally positioned and located below the bed board 5. An opening corresponding to the ring gear 8 is provided on the support plate 28. One end of the lead screw 21, passing through the platform 23, is rotatably connected to the support plate 28 via a bearing 29. Multiple guide columns 24, passing through one end of the platform 23, are fixedly connected to the support plate 28. The number of guide columns 24 can be four, evenly arranged around the edge of the platform 23.

[0062] like Figure 6 and Figure 7 As shown, the X-ray detector includes an X-ray source 25 and an X-ray detector 26. The X-ray source 25 is fixed to the lifting assembly 3, specifically, the X-ray source 25 is fixed to the platform 23 of the lifting assembly 3 via a second bracket 33. The X-ray detector 26 is fixed to the lifting assembly 3, specifically, the X-ray detector 26 is fixed to the platform 23 of the lifting assembly 3 via a third bracket 34; and the X-ray detector 26 is positioned opposite to the X-ray source 25; the breast is located between the X-ray detector 26 and the X-ray source 25. The X-ray source 25 emits X-rays 31, and the X-ray detector 26 receives X-rays 31.

[0063] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A breast biopsy system, characterized in that, include: Six-axis robotic arm (1); A puncture needle (2) is fixedly installed at the execution end of the six-axis robotic arm (1); the puncture needle (2) is adapted to move with the operation of the six-axis robotic arm (1) and then perform puncture biopsy on the preset puncture point on the breast according to the preset needle insertion angle; The lifting assembly (3) is fixedly mounted on the six-axis robotic arm (1), and the lifting assembly (3) is adapted to drive the six-axis robotic arm (1) to perform upward and downward movements; A rotating component (4) is connected to a lifting component (3), the rotating component (4) being adapted to drive the lifting component (3) to rotate around the breast; Indicating laser light, suitable for indicating preset puncture points on the breast; The detector is fixed on the lifting assembly (3). The detector is adapted to manually start scanning when the puncture needle (2) is used for puncture biopsy. When the puncture needle (2) deviates from the preset puncture point and preset needle insertion angle, the six-axis robotic arm (1) is used to manually correct the puncture needle (2) to the accurate puncture position and needle insertion angle.

2. The breast biopsy system according to claim 1, characterized in that, The detector is connected to the six-axis robotic arm (1) via signal; the detector is adapted to automatically scan when the puncture needle (2) is used for puncture biopsy, and when the puncture needle (2) deviates from the preset puncture point and preset needle insertion angle, the six-axis robotic arm (1) automatically corrects the puncture needle (2) to the accurate puncture position and needle insertion angle.

3. The breast biopsy system according to claim 1 or 2, characterized in that, The detectors include an X-ray detector and an ultrasound detector; the X-ray detector is suitable for scanning calcifications, and the ultrasound detector is suitable for scanning breast nodules and masses.

4. The breast biopsy system according to claim 3, characterized in that, The ultrasound detector is a two-dimensional ultrasound detector, which is suitable for scanning tumors.

5. The breast biopsy system according to claim 1 or 2, characterized in that, Also includes: A horizontal laser light is provided with an infrared receiving area at the execution end of the six-axis robotic arm (1). The execution end of the six-axis robotic arm (1) is adapted to be calibrated to a position where the horizontal laser light is zero when it moves vertically to the position where the infrared receiving area senses the laser position of the horizontal laser light. The vertical laser lamp, the execution end of the six-axis robotic arm (1) is adapted to be calibrated to a vertical zero position when it moves horizontally to the infrared receiving area and senses the laser position of the vertical laser lamp.

6. The breast biopsy system according to claim 1 or 2, characterized in that, Also includes: The bed board (5) has an opening (6) and is suitable for the patient to lie prone with the breasts passing through the opening (6). A clamping assembly (7) is provided near an opening (6) on the bottom surface of the bed board (5), and the clamping assembly (7) is adapted to clamp the breast during a puncture biopsy.

7. The breast biopsy system according to claim 6, characterized in that, The clamping assembly (7) includes: A ring gear (8) is fixed to the bottom surface of the bed plate (5), and the center of the ring gear (8) is coaxial with the opening (6); a ring track (9) is provided on the bottom surface of the ring gear (8). Gear (11) meshes with the ring gear (8); A first power structure (10) is connected to the gear (11), and the first power structure (10) is adapted to drive the gear (11) to rotate; The first slider (12) is slidably connected to the annular track (9), and the first slider (12) is fixedly connected to the first power structure (10); The second power structure (13) is fixed on the first slider (12); The first clamping plate (14) is connected to the output end of the second power structure (13), and the output end of the second power structure (13) is adapted to drive the first clamping plate (14) to extend and retract radially along the annular track (9); The second clamping plate (15) is disposed opposite to the first clamping plate (14); The second slider (16) is slidably connected to the annular track (9), and the second slider (16) is fixedly connected to the first slider (12) by a connecting rod (17); The third power structure (18) is fixed on the second slider (16), and the output end of the third power structure (18) is connected to the second clamping plate (15); the output end of the third power structure (18) is adapted to drive the second clamping plate (15) to extend and retract radially along the annular track (9) to cooperate with the first clamping plate (14) to clamp or release the breast.

8. The breast biopsy system according to claim 1 or 2, characterized in that, The rotating component (4) includes: Bearing stator structure; The bearing rotor structure is rotatably connected to the bearing stator structure; A fourth power structure is connected to the bearing rotor structure, and the fourth power structure is adapted to drive the bearing rotor structure to rotate. The slip ring structure (19) is connected to the bearing rotor structure and the lifting assembly (3), and the slip ring structure (19) is adapted to rotate with the rotation of the bearing rotor structure.

9. The breast biopsy system according to claim 1 or 2, characterized in that, The lifting assembly (3) includes: The fifth power structure (20) is adapted to rotate, and the fifth power structure (20) is connected to the rotating assembly (4); A lead screw (21) is arranged in a vertical direction and is connected to a fifth power structure (20); Nut (22) is threadedly connected to the lead screw (21); Platform (23), the detector is fixed on the platform (23); and the nut (22) is fixedly connected to the platform (23); Multiple guide posts (24) are arranged vertically, and the bottom ends of the multiple guide posts (24) are fixedly arranged on the rotating assembly (4), and the multiple guide posts (24) are slidably connected to the platform (23).

10. The breast biopsy system according to claim 3, characterized in that, The X-ray detector includes: The X-ray source (25) is fixed on the lifting assembly (3); An X-ray detector (26) is fixed on the lifting assembly (3), and the X-ray detector (26) is positioned opposite to the X-ray source (25); the breast is located between the X-ray detector (26) and the X-ray source (25).

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