Navigation device for minimally invasive surgery

Abstract

The utility model relates to the technical field of medical instrument navigation, in particular to a navigation device for minimally invasive surgery, which comprises an intelligent optical navigation frame with a manipulator, the bottom of the intelligent optical navigation frame is fixedly connected with a positioning seat, and the front side of the positioning seat is fixedly connected with a fixing frame. A driving motor is fixedly installed on the inner wall of the fixing frame, the output end of the driving motor is fixedly connected with a threaded rod, and the surface of the threaded rod is in threaded connection with a threaded sleeve plate. According to the intelligent optical navigation frame, positioning use of corresponding surgical instruments such as a puncture needle can be sensed in real time, a navigation surgical track can be conveniently planned, transposition constraint locking of the intelligent optical navigation frame can be achieved through the positioning base, and then the intelligent optical navigation frame can intelligently adapt to the sensing positioning navigation effect of minimally invasive surgery in different environments.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of navigation device for minimally invasive surgery, belong to medical instrument navigation technical field. BACKGROUND

[0002] Minimally invasive surgery, as its name implies, is minimally invasive surgery, refers to the use of laparoscope, thoracoscope and other modern medical equipment and related equipment, minimally invasive surgery has the advantages of small trauma, light pain and quick recovery, which is the dream of every patient who needs surgery, minimally invasive surgery makes this dream come true, with the development of computer technology, image medicine and computer technology combine to derive various navigation systems, which provide visual and preoperative planning conditions for various invasive operations in clinical practice.

[0003] Since the minimally invasive surgery is now installed by the locator in the surgical instrument, and the external light rays are used to penetrate and view the patient's condition, it is not convenient to navigate and coordinate the minimally invasive surgery, which brings certain adverse effects to the actual use, and therefore needs to be improved. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of navigation device for minimally invasive surgery, the utility model is in situ by the synergic linkage of intelligent optical navigation frame and response counterposition seat, the positioning use of puncture needle and other surgical instruments corresponding to real-time response can be carried out, and the planning navigation operation trajectory is convenient, and the intelligent optical navigation frame can be locked by the positioning seat, and the intelligent optical navigation frame can be intelligently adapted to the sensing positioning navigation effect of minimally invasive surgery in different environments, to solve the problems raised in the above background technology.

[0005] To achieve the above object, the utility model provides the following technical scheme:

[0006] A kind of navigation device for minimally invasive surgery, including the intelligent optical navigation frame with mechanical hand, the bottom of the intelligent optical navigation frame is fixedly connected with positioning seat, the front side of the positioning seat is fixedly connected with fixed frame, the inner wall of the fixed frame is fixedly installed with drive motor, the output of the drive motor is fixedly connected with threaded rod, the surface of the threaded rod is threadedly connected with threaded sleeve plate, the top of the threaded sleeve plate is connected with limit component, the bottom of the threaded sleeve plate and the left side close to the inner wall of positioning seat are all fixedly installed with electric cylinder, the output of the electric cylinder is fixedly connected with clamping frame, the bottom of the positioning seat is connected with locking assembly, the surface of the locking assembly is connected with stabilizing seat, the bottom of the stabilizing seat is fixedly connected with the adjusting support leg with air cylinder, the bottom of the adjusting support leg is fixedly connected with mobile wheel seat, the surface of the intelligent optical navigation frame is placed with response counterposition seat.

[0007] Further, the inside of the intelligent optical navigation frame is fixedly installed with a receiving table through a manipulator, a touch control screen is fixedly installed on the top of the receiving table, and a placing groove cavity is formed in the top of the receiving table.

[0008] Further, the limiting assembly comprises a limiting plate and a limiting groove, the limiting plate is fixedly connected to the top of the threaded sleeve plate, the limiting groove is formed in the top of the inner wall of the positioning seat, and the inner wall of the limiting groove and the surface of the limiting plate are in sliding connection.

[0009] Further, the top of the clamping frame is fixedly installed with an electric telescopic rod, the output end of the electric telescopic rod is fixedly connected with a movable clamping plate, the bottom of the inner wall of the clamping frame is fixedly connected with a fixed clamping plate, and the fixed clamping plate is located directly below the movable clamping plate.

[0010] Further, the surface of the movable clamping plate and the surface of the fixed clamping plate are both fixedly connected with anti-skid pads, and the surfaces of the anti-skid pads are both coated with wear-resistant coating.

[0011] Further, the locking assembly comprises a magnetic locking plate and a power magnetic suction groove, the magnetic locking plate is fixedly connected to the bottom of the positioning seat, the power magnetic suction groove is formed above the stabilizing seat, the inner wall of the power magnetic suction groove and the surface of the magnetic locking plate are magnetically attracted and adapted.

[0012] Further, the main body of the sensing alignment seat is a control disc with a connecting arm, a needle sleeve is fixedly connected to the front side of the control disc near the left side of the control disc, an electric push rod is fixedly installed in the control disc, and the electric push rod is fixedly installed with a positioner on one end of the electric push rod.

[0013] The utility model discloses the beneficial effect is:

[0014] In this invention, an intelligent optical navigation frame guides the patient's movement to a CT scan bed or other diagnostic equipment. The optical navigator within the frame is a commonly used sensing device, employing optical rays and a 3D camera for scanning and positioning. This allows for basic patient positioning and magnetic attraction using a magnetic locking plate and electromagnetic suction groove. The positioning base can be connected above the stabilizing base, and the intelligent optical navigation frame can be positioned directly above the moving wheel base. This allows for positional adjustments of the intelligent optical navigation frame for subsequent minimally invasive surgical navigation. The height of the intelligent optical navigation frame can be adjusted using a cylinder in the supporting leg. To accommodate different patient lying positions during minimally invasive surgery, staff can connect the sensor alignment seat to the robotic arm. The sensor alignment seat can be controlled to rotate and adjust its height in different directions. The electric push rod can drive the photosensitive ball to move, and the light irradiation navigation and alignment on the intelligent optical navigation frame can be performed at multiple points. The puncture needle can be connected in the needle sleeve. The sensor alignment seat can be temporarily placed and stored in the anti-collision groove cavity on the receiving platform. The installed sensor alignment seat can be remotely controlled using the touch screen control panel, thereby realizing the intelligent optical navigation frame's intelligent adaptation to the sensing and positioning navigation effect of minimally invasive surgery in different environments.

[0015] In this invention, when staff need to install the intelligent optical navigation frame at the operating table, the removed intelligent optical navigation frame can be moved to the bed frame to be installed. A drive motor rotates the threaded rod, and the limiting components allow the threaded rod to rotate, moving the threaded sleeve. The moving threaded sleeve moves the clamping frame, and the left and right electric cylinders move the clamping frame, allowing it to approach the clamping point for engagement and constraint. The electric telescopic rod moves the moving clamping plate closer to the fixed clamping plate, thus completing the overall clamping and positioning of the intelligent optical navigation frame. The anti-slip pads reduce the risk of the intelligent optical navigation frame slipping and falling after clamping and positioning, enabling portable relocation and installation of the intelligent optical navigation frame in different locations. Attached Figure Description

[0016] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the specific embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof.

[0017] Figure 1 This is a schematic diagram of the overall structure of a navigation device for minimally invasive surgery according to the present invention;

[0018] Figure 2 This is a side cross-sectional view of the positioning seat in a navigation device for minimally invasive surgery according to this utility model;

[0019] Figure 3 is a structural schematic view of a receiving table of a navigation device for minimally invasive surgery;

[0020] Figure 4 is a schematic view of an inductive alignment seat of a navigation device for minimally invasive surgery;

[0021] Figure 5 is an enlarged view of A of a navigation device for minimally invasive surgery;

[0022] The figure mark: 1, intelligent optical navigation frame;2, positioning seat;3, fixed frame;4, drive motor;5, threaded rod;6, threaded sleeve plate;7, electric cylinder;8, clamping frame;9, stabilizing seat;10, adjusting support leg;11, moving wheel seat;12, inductive alignment seat;13, receiving table;14, touch screen control screen;15, limiting plate;16, limiting groove;17, electric telescopic rod;18, moving clamping plate;19, fixed clamping plate;20, non-slip pad;21, magnetic locking plate;22, energized magnetic suction groove;23, needle sleeve;24, electric push rod;25, light inductive ball. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0024] Embodiment 1, please refer to Figures 1-5 The present application provides a technical scheme:

[0025] A navigation device for minimally invasive surgery, comprising an intelligent optical navigation frame 1 with a mechanical hand, the bottom of the intelligent optical navigation frame 1 is fixedly connected with a positioning seat 2, the front side of the positioning seat 2 is fixedly connected with a fixed frame 3, the inner wall of the fixed frame 3 is fixedly installed with a drive motor 4, the output end of the drive motor 4 is fixedly connected with a threaded rod 5, the surface of the threaded rod 5 is threadedly connected with a threaded sleeve plate 6, the top of the threaded sleeve plate 6 is connected with a limiting assembly, the bottom of the threaded sleeve plate 6 and the left side close to the inner wall of the positioning seat 2 are both fixedly installed with an electric cylinder 7, the output end of the electric cylinder 7 is fixedly connected with a clamping frame 8, the bottom of the positioning seat 2 is connected with a locking assembly, the surface of the locking assembly is connected with a stabilizing seat 9, the bottom of the stabilizing seat 9 is fixedly connected with an adjusting support leg 10 with a pneumatic cylinder, the bottom of the adjusting support leg 10 is fixedly connected with a moving wheel seat 11, the surface of the intelligent optical navigation frame 1 is placed with an inductive alignment seat 12.

[0026] Specifically, as shown in Figures 1-5 The inside of the intelligent optical navigation frame 1 is fixedly installed with a receiving table 13 by a mechanical hand. The top of the receiving table 13 is fixedly installed with a touch screen control screen 14. The top of the receiving table 13 is provided with a placing recess cavity. The inductive alignment seat 12 can be temporarily placed and stored in the anti-collision recess cavity on the receiving table 13. The inductive alignment seat 12 after installation can be remotely inductively controlled by the touch screen control screen 14.

[0027] Further, the main body of the inductive alignment seat 12 is a control disc with a connecting arm. The control disc is fixedly connected with a needle sleeve 23 near the front side of the left side. An electric push rod 24 is fixedly installed in the inside of the control disc. The electric push rod 24 is fixedly installed with a light inductive ball 25 with a positioner at one end. The light inductive ball 25 can be moved by the operation of the electric push rod 24 to perform multi-point corresponding intelligent optical navigation frame 1 light irradiation navigation inductive alignment. The needle sleeve 23 can be connected with a puncture needle.

[0028] Specifically, as shown in Figures 1-5 The limiting assembly includes a limiting plate 15 and a limiting groove 16. The limiting plate 15 is fixedly connected with the top of the threaded sleeve plate 6. The limiting groove 16 is opened on the top of the inner wall of the positioning seat 2. The inner wall of the limiting groove 16 and the surface of the limiting plate 15 are in sliding connection. The movement track of the threaded sleeve plate 6 is limited by the limiting plate 15 and the limiting groove 16. The threaded rod 5 rotation can drive the threaded sleeve plate 6 to move.

[0029] Further, the locking assembly includes a magnetic locking plate 21 and a power magnetic attraction groove 22. The magnetic locking plate 21 is fixedly connected with the bottom of the positioning seat 2. The power magnetic attraction groove 22 is opened directly above the stabilizing seat 9. The inner wall of the power magnetic attraction groove 22 and the surface of the magnetic locking plate 21 are magnetically attracted and clamped and matched. The magnetic locking plate 21 and the power magnetic attraction groove 22 are used for magnetic positioning. The positioning seat 2 can be connected above the stabilizing seat 9, or the subsequent intelligent optical navigation frame 1 can be removed and used for transposition positioning.

[0030] Embodiment 2 Please refer to Figures 1-5The embodiment is different from embodiment 1 that the top of the clamping frame 8 is fixedly provided with an electric telescopic rod 17, the output end of the electric telescopic rod 17 is fixedly connected with a movable clamping plate 18, the bottom of the inner wall of the clamping frame 8 is fixedly connected with a fixed clamping plate 19, and the fixed clamping plate 19 is located directly below the movable clamping plate 18. The surface of the movable clamping plate 18 and the surface of the fixed clamping plate 19 are both fixedly connected with anti-skid base plates 20, the surface of the anti-skid base plates 20 is all coated with wear-resistant coating, the electric telescopic rod 17 can drive the movable clamping plate 18 to move close to the fixed clamping plate 19, and then the overall clamping and positioning of the intelligent optical navigation frame 1 is completed, and under the action of the anti-skid base plates 20, the situation that the intelligent optical navigation frame 1 is loose and falls off after being clamped and positioned can be reduced.

[0031] The utility model discloses a working principle: in use, the staff can guide the shift and place in the CT bed etc. detection equipment place, the optical navigation ware in the intelligent optical navigation frame 1 is the inductive equipment of commonly used, namely through its optical ray and 3D camera scanning combination positioning, carries out the basic positioning inductive of patient, and utilizes the magnetic attraction locking plate 21 and energized magnetic attraction groove 22 and carries out the magnetic attraction positioning, can connect the positioning seat 2 in the upper portion of stable seat 9, can complete the intelligent optical navigation frame 1 is connected in the upper portion of mobile wheel seat 11, can complete the position adjustment of intelligent optical navigation frame 1 to carry out the subsequent minimally invasive surgery navigation positioning, utilizes the height of adjusting support leg 10 cylinder and can adjust intelligent optical navigation frame 1, to adapt to the minimally invasive surgery of different patient lying place, the staff can connect the inductive alignment seat 12 in the mechanical hand, can control the inductive alignment seat 12 and carry out the control rotation of different direction and adjust height, according to the operation of electric push rod 24 can drive light inductive ball 25 and move, carry out the light irradiation navigation inductive alignment of multiple point corresponding intelligent optical navigation frame 1, in the needle set 23 can carry out the connection of puncture needle, in the anti-collision recess cavity on the receiving platform 13 can carry out the inductive alignment seat 12 temporary storage effect, utilize touch screen control screen 14 can carry out remote inductive control installed inductive alignment seat 12, if the staff needs the installation of intelligent optical navigation frame 1 in the operating bed, can take down the intelligent optical navigation frame 1 and move to the bed frame of installation, namely utilize drive motor 4 and drive screw rod 5 to rotate, through the setting of limiting plate 15 and limiting groove 16, the movement track of threaded sleeve plate 6 has been limited, makes screw rod 5 rotation can drive threaded sleeve plate 6 and move, threaded sleeve plate 6 moves can drive the clamping frame 8 on it and move, the operation of electric cylinder 7 at left and right can drive clamping frame 8 and move, so that the clamping frame can be close to the clamping point and connect, the operation of electric telescopic rod 17 can drive movable clamp plate 18 and close to fixed clamp plate 19, and then complete the overall clamping positioning of intelligent optical navigation frame 1, under the action of antiskid pad 20, can reduce the loose drop of intelligent optical navigation frame 1 clamping positioning, and then realize the inductive positioning navigation effect of intelligent optical navigation frame 1 intelligent adaptation under different environment minimally invasive surgery.

[0032] Although the embodiments of the utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made thereto without departing from the principles and spirit of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. A navigation device for minimally invasive surgery, comprising an intelligent optical navigation frame (1) with a mechanical hand, characterized in that: The bottom of the intelligent optical navigation frame (1) is fixedly connected with a positioning seat (2), the front side of the positioning seat (2) is fixedly connected with a fixed frame (3), the inner wall of the fixed frame (3) is fixedly installed with a driving motor (4), the output end of the driving motor (4) is fixedly connected with a threaded rod (5), the surface of the threaded rod (5) is threadedly connected with a threaded sleeve plate (6), the top of the threaded sleeve plate (6) is connected with a limiting assembly, the bottom of the threaded sleeve plate (6) and the left side of the positioning seat (2) close to the inner wall thereof are fixedly installed with an electric cylinder (7), the output end of the electric cylinder (7) is fixedly connected with a clamping frame (8), the bottom of the positioning seat (2) is connected with a locking assembly, the surface of the locking assembly is connected with a stabilizing seat (9), the bottom of the stabilizing seat (9) is fixedly connected with an adjusting support leg (10) provided with an air cylinder, the bottom of the adjusting support leg (10) is fixedly connected with a moving wheel seat (11), and the surface of the intelligent optical navigation frame (1) is placed with an inductive alignment seat (12).

2. The navigation device for use in minimally invasive surgery of claim 1, wherein: The inside of the intelligent optical navigation frame (1) is fixedly installed with a receiving table (13) through a mechanical hand, the top of the receiving table (13) is fixedly installed with a touch screen control screen (14), and the top of the receiving table (13) is provided with a placing recess cavity.

3. The navigation device for use in minimally invasive surgery of claim 1, wherein: The limiting assembly comprises a limiting plate (15) and a limiting groove (16), the limiting plate (15) is fixedly connected with the top of the threaded sleeve plate (6), the limiting groove (16) is formed in the top of the inner wall of the positioning seat (2), and the inner wall of the limiting groove (16) and the surface of the limiting plate (15) are slidably connected.

4. The navigation device for use in minimally invasive surgery of claim 1, wherein: The top of the clamping frame (8) is fixedly installed with an electric telescopic rod (17), the output end of the electric telescopic rod (17) is fixedly connected with a moving clamping plate (18), the bottom of the inner wall of the clamping frame (8) is fixedly connected with a fixed clamping plate (19), and the fixed clamping plate (19) is located directly below the moving clamping plate (18).

5. The navigation device for use in minimally invasive surgery of claim 4, wherein: The surface of the moving clamping plate (18) and the surface of the fixed clamping plate (19) are fixedly connected with anti-skid pads (20), and the surfaces of the anti-skid pads (20) are coated with wear-resistant coatings.

6. The navigation device for use in minimally invasive surgery of claim 1, wherein: The locking assembly comprises a magnetic locking plate (21) and an electrified magnetic attraction groove (22), the magnetic locking plate (21) is fixedly connected to the bottom of the positioning seat (2), the electrified magnetic attraction groove (22) is formed above the stabilizing seat (9), the inner wall of the electrified magnetic attraction groove (22) and the surface of the magnetic locking plate (21) are magnetically attracted and adapted.

7. The navigation device for use in minimally invasive surgery of claim 1, wherein: The main body of the inductive alignment seat (12) is a control disc provided with a connecting arm, a needle sleeve (23) is fixedly connected to the front side of the control disc close to the left side thereof, an electric push rod (24) is fixedly installed in the control disc, and an optical inductive ball (25) provided with a positioner is fixedly installed at one end of the electric push rod (24).

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