Stereotactic device, adjusting device and stereotactic system

Abstract

The utility model provides a stereotactic device, an adjusting device and a stereotactic system. The adjusting device comprises a base fixing piece, an angle measuring frame, an angle adjuster, a guiding piece, an X-direction displacement table, a Y-direction displacement table and a Z-direction displacement table. The stereotactic device comprises a base, a base adapter, a connector, a ball head mechanism, a guide rail and a support. The base is fixed to a target object; the base adapter is selectively mounted on the base fixing piece or the base; the base fixing piece is arranged on the Z-direction displacement table; the Z-direction displacement table is arranged on the X-direction displacement table; the angle measuring frame is arranged on the Y-direction displacement table and can rotate around the rotating central axis; the angle adjuster is arranged on the angle measuring frame and is provided with the guide piece; the axis of the guide piece and the rotation center axis intersect at a target point; the connector is connected with the base adapter and the ball head mechanism; the ball mechanism is connected with the guide rail; the support is arranged on the guide rail and provided with the guider, and the axis of the guider coincides with the expected approach direction. Flexible adjustment of the device can be achieved, and disassembly and assembly are convenient while the adjustment precision is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of medical apparatus and instruments, and particularly relates to a stereotactic device for neurosurgery, an adjusting device and a stereotactic system. BACKGROUND

[0002] Clinically, there are three kinds of stereotactic surgery implementation modes for neurosurgery: the first kind is that a surgeon performs a freehand puncture according to a stereotactic marking method based on personal experience without any positioning equipment, and this method completely depends on the clinical experience of the leading surgeon and is suitable for stereotactic surgery with low precision requirements, such as puncture and drainage of hematoma; the second kind is frame stereotaxis, which is to install a frame capable of three-dimensional adjustment on the head of a patient to realize stereotactic positioning; and the third kind is frameless stereotaxis, which is a surgical navigation system taking computer technology and three-dimensional image processing software as the core, and provides a patient lesion target position and displays a real-time operation process for a surgeon through optical and magnetic positioning technologies, and this method is accurate and intuitive, but the operation process is complicated, professional technical training is required for the surgeon, and the equipment is expensive, so it is difficult to popularize in primary hospitals.

[0003] In order to overcome the problem that a patient needs to wear a heavy metal head frame in the existing frame stereotactic surgery mode, some small and convenient frameless stereotactic devices appear in the prior art. A common stereotactic device is fixed to the head by a base, and a connector is detachably connected with the base, so that the connector can be detached from the base before a CT scan operation is completed, thereby reducing the burden on the head of the patient. However, this stereotactic device is not flexible and convenient in position adjustment, the adjustment accuracy is not easy to guarantee, and the device is not convenient to disassemble and assemble.

[0004] Therefore, for those skilled in the art, how to provide a stereotactic device which is more convenient to adjust, can guarantee the adjustment accuracy, and is convenient to disassemble and assemble is a technical problem to be solved. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a stereotactic device, an adjusting device and a stereotactic system to solve the above problems existing in the traditional stereotactic device.

[0006] To achieve the above-mentioned purpose, the utility model provides a stereotactic device, which comprises:

[0007] A base is used for being fixed to a target object;

[0008] A base adapter is detachably fixed on the base;

[0009] A connector is pivotally arranged at one end of the base adapter;

[0010] A ball joint mechanism, one end of which is fixedly connected to the other end of the connector;

[0011] A guide rail, which is fixedly connected to the other end of the ball joint mechanism; and,

[0012] A bracket, which is slidably mounted on the guide rail, is used to install a guide, the axis of which is aligned with the desired approach direction.

[0013] Preferably, the ball joint mechanism includes a connecting ball joint, a guide rail ball joint, a ball joint support structure, and a ball joint locking structure; the ball joint support structure supports and mounts the connecting ball joint and the guide rail ball joint; the connecting ball joint is fixedly connected to the other end of the connector; the guide rail ball joint is fixedly connected to the guide rail; the ball joint locking structure is connected to the ball joint support structure and is capable of locking the connecting ball joint and the guide rail ball joint.

[0014] Preferably, the ball head support structure consists of a first clamping plate and a second clamping plate, with the connecting end ball head and the guide rail end ball head located between the first clamping plate and the second clamping plate. The ball head locking structure includes a clamping bolt, which connects the first clamping plate and the second clamping plate and can lock the connecting end ball head and the guide rail end ball head by pre-tightening the first clamping plate and the second clamping plate; and / or, a rubber ring is fitted on the connecting end ball head and / or the guide rail end ball head.

[0015] Preferably, the base is provided with a column, the base adapter has an opening adapted to the shape of the column, the column passes through the opening, and the shapes of the column and the opening are configured to keep the base and the base adapter relatively fixed.

[0016] Preferably, the opening of the base adapter and the column of the base are tapered; and / or, the stereotactic device further includes a set screw and a locking nut, the outer peripheral surface of the base adapter is provided with a groove, the locking nut passes through the opening and is inserted into the column for locking, and the set screw passes through one end of the connector and locks with the groove.

[0017] To achieve the above objectives, this utility model also provides an adjustment device for adjusting the position of any of the stereotactic devices described in any one of them, so that the axial direction of the guide coincides with the desired approach direction;

[0018] The adjustment device includes: a base fixing component, a protractor, an angle adjuster, a guide component, an X-axis displacement stage, a Y-axis displacement stage, and a Z-axis displacement stage;

[0019] The base fixing member is detachably mounted on the base adapter, the base fixing member is slidably mounted on the Z-axis displacement stage, and the Z-axis displacement stage is slidably mounted on the X-axis displacement stage;

[0020] The protractor is slidably mounted on the Y-axis displacement stage, and the protractor is capable of rotating about a rotation center axis.

[0021] The angle adjuster is slidably mounted on the protractor. The guide is detachably mounted on the angle adjuster, and the axis of the guide intersects the axis of rotation at a target point. The target point coincides with the geometric center of the protractor, or the target point is the orthographic projection of the geometric center of the protractor onto the axis of rotation.

[0022] Preferably, the adjustment device further includes: a rotary table and a support; the rotary table is pivotally mounted on the top of the support; the bottom end of the support is slidably mounted on the Y-axis displacement table; one end of the protractor is fixed on the rotary table; the rotary table can be driven to rotate the protractor around the rotation center axis, the rotation center axis being parallel to the X-axis displacement table.

[0023] Preferably, the adjusting device further satisfies at least one of the following:

[0024] The X-axis displacement stage includes an X-axis slide rail, an X-axis slider, an X-axis fine-tuning knob, an X-axis rack, and an X-axis locking screw; the Z-axis displacement stage is mounted on the X-axis slider; the X-axis fine-tuning knob is connected to the X-axis slider; the X-axis fine-tuning knob can be driven to move the X-axis slider along the X-axis slide rail on the X-axis rack; the X-axis locking screw is used to lock the X-axis slider and the X-axis slide rail;

[0025] The Y-axis displacement stage includes a Y-axis slide rail, a Y-axis slider, a Y-axis fine-tuning knob, a Y-axis rack, and a Y-axis locking screw; the protractor is mounted on the Y-axis slider; the Y-axis fine-tuning knob is connected to the Y-axis slider; the Y-axis fine-tuning knob can be driven to move the Y-axis slider along the Y-axis slide rail on the Y-axis rack; the Y-axis locking screw is used to lock the Y-axis slider and the Y-axis slide rail;

[0026] The Z-axis displacement stage includes a Z-axis slide rail, a Z-axis slider, a Z-axis fine-tuning knob, a Z-axis rack, and a Z-axis locking screw; the base fixing member is mounted on the Z-axis slider; the Z-axis fine-tuning knob is connected to the Z-axis slider; the Z-axis fine-tuning knob can be driven to move the Z-axis slider along the Z-axis slide rail on the Z-axis rack; the Z-axis locking screw is used to lock the Z-axis slider and the Z-axis slide rail.

[0027] Preferably, the adjusting device further satisfies at least one of the following:

[0028] The X-axis displacement stage, the Y-axis displacement stage, and the Z-axis displacement stage all include a slide rail and a slider; the slider is slidably mounted on the slide rail, and both the slide rail and the slider are provided with displacement markings;

[0029] One side of the protractor has angle markings;

[0030] The base fixing component is provided with a column, and the base adapter has an opening adapted to the shape of the column of the base fixing component. The column of the base fixing component passes through the opening, and the shape of the column and the opening of the base fixing component is set to enable the base fixing component and the base adapter to remain relatively fixed.

[0031] To achieve the above objectives, the present invention also provides a stereo orientation system, comprising: the stereo orientation device described in any one of the claims; and the adjustment device described in any one of the claims.

[0032] Compared with the prior art, the technical solution provided by this utility model has at least the following beneficial effects:

[0033] The stereotactic device provided by this utility model, by setting a base adapter between the base and the connector, can ensure that the stereotactic device has more freedom when adjusting on the adjustment device, improving the flexibility and convenience of adjusting the stereotactic device on the adjustment device. It can also ensure that after the stereotactic device is adjusted and locked on the adjustment device, it can be completely disassembled from the adjustment device and easily installed on the base that has been fixed to the patient's head. In this way, the adjustment accuracy is guaranteed while the disassembly and assembly are convenient.

[0034] The stereotactic device provided by this utility model can further improve the degree of freedom of the stereotactic device by setting a ball joint mechanism with two ball joints between the connector and the guide rail, and further increase the working range of the stereotactic device as well as the flexibility and convenience of adjustment on the adjustment device.

[0035] The stereotactic system provided by this utility model adopts a head-to-tail fixed adjustment method when adjusting the stereotactic device through the adjustment device. This method is superior to the method of obtaining the positioning direction by adjusting multiple degrees of freedom of the ball head mechanism. It can eliminate the influence of the fit error of the internal components of the stereotactic device on the final guiding result, significantly improve the orientation accuracy of the stereotactic device, and further reduce the difficulty of positioning adjustment. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only preferred embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is an isometric view of the stereotactic device according to a preferred embodiment of the present invention.

[0038] Figure 2 This is an assembly diagram of the base adapter according to a preferred embodiment of the present invention.

[0039] Figure 3 This is a front axonometric view of the adjustment device according to a preferred embodiment of the present invention.

[0040] Figure 4 This is a rear-view axonometric view of the adjustment device according to a preferred embodiment of the present invention.

[0041] Figure 5 This is a structural diagram of the angle adjuster according to a preferred embodiment of the present invention.

[0042] Figure 6 This is an assembly diagram of the adjustment device for adjusting the stereoscopic orientation device according to a preferred embodiment of this utility model.

[0043] Figure 7 This is a schematic diagram of the stereotactic device of the preferred embodiment of the present invention after the placement and adjustment process.

[0044] [The annotations in the attached figures are explained below]:

[0045] 1-Base, 101-Metal Marker Point, 2-Base Adapter, 3-Locking Nut, 4-Connector, 401-Set Screw, 5-Ball Head Mechanism, 501-Connecting End Ball Head, 502-Guide Rail End Ball Head, 503-Rubber Ring, 504-First Clamping Plate, 505-Second Clamping Plate, 506-Clamping Bolt, 6-Guide Rail, 7-Bracket, 701-Locking Screw, 8-Guide, 100-Stereoscopic Orientation Device; 900-Adjustment Device, 901-Base, 902-X-Directional Displacement Stage, 9021-X-Directional Slide Rail, 9022-X-Directional Rack, 9023-X-Directional Slider, 9024-X-Directional Fine Adjustment Knob, 9025-X-Directional Locking Screw, 903-Y-Directional Displacement Stage 9031-Y-direction slide rail, 9032-Y-direction rack, 9033-Y-direction slider, 9034-Y-direction fine-tuning knob, 9035-Y-direction locking screw, 904-Z-direction displacement stage, 9041-Z-direction slide rail, 9042-Z-direction rack, 9043-Z-direction slider, 9044-Z-direction fine-tuning knob, 9045-Z-direction locking screw, 905-base fixing component, 906-support, 907-rotary stage, 9071-mounting base, 9072-turntable, 9073-handle, 9074-locking pin, 908-protractor, 909-angle adjuster, 9091-locking pin, 910-guide component; 1000-patient head, 1001-patient lesion. Detailed Implementation

[0046] The present invention will be described more clearly and completely below by way of embodiments and in conjunction with the accompanying drawings, but this does not limit the present invention to the scope of the embodiments. It should be noted that, based on common knowledge in the art, the following preferred embodiments can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0047] One of the purposes of this invention is to overcome the shortcomings of existing stereotactic devices and provide a stereotactic device with a wider adjustment range, a more flexible mechanism, and easier operation.

[0048] The second objective of this utility model is to provide an adjustment device for orienting and positioning a stereoscopic orientation device.

[0049] The third objective of this invention is to provide a stereoscopic system that includes a stereoscopic orientation device and an adjustment device.

[0050] like Figure 1 and Figure 2 As shown, this embodiment provides a stereotactic device 100 for stereotactic puncture surgery. The stereotactic device 100 includes: a base 1, a base adapter 2, a connector 4, a ball joint mechanism 5, a guide rail 6, and a support 7.

[0051] like Figure 7As shown, the base 1 is used to mount and fix to the patient's head 1000, which is the target object described herein. At least three asymmetrically distributed metal markers 101 are provided on the base 1 (e.g., internally or externally). The metal markers 101 are used to assist surgical path planning software in identifying the mounting orientation of the base 1. The metal markers 101 are preferably reflective metal spheres. Based on the identification of the metal markers 101, the accuracy of directional clinical guidance can be improved.

[0052] The base adapter 2 is detachably fixed to the base 1. That is, the base adapter 2 can be selectively fixed to the base 1 or the base fixing member 905 described later. The base adapter 2 and the base 1 should remain relatively fixed and should not move or rotate relative to each other. Moreover, the mating direction of the base adapter 2 and the base 1 is unique, that is, the position remains unchanged during each assembly.

[0053] One end of connector 4 is pivotally mounted on base adapter 2, allowing connector 4 and base adapter 2 to rotate relative to each other. Connector 4 and base adapter 2 can also be locked together, keeping them relatively fixed. The connection between connector 4 and base adapter 2 can be detachable or non-detachable, which is not limited.

[0054] In one embodiment, the stereotactic device 100 further includes a set screw 401 and a locking nut 3. The connector 4 is locked to the locking nut 3 by the set screw 401, and the locking nut 3 is directly locked to the base 1. Specifically, the locking nut 3 is inserted into the base adapter 2 and locked to the base 1 by threads, while the set screw 401 is provided on the connector 4 and locked to the locking nut 3.

[0055] One end of the ball head mechanism 5 is fixedly connected to the other end of the connector 4, allowing the connector 4 to swing flexibly relative to the ball head mechanism 5, which can further improve the flexibility and working range of the stereotactic device 100.

[0056] The guide rail 6 is fixedly connected to the other end of the ball head mechanism 5, allowing the guide rail 6 to swing flexibly relative to the ball head mechanism 5, which can further improve the flexibility and working range of the stereotactic device 100.

[0057] It should be noted that at least one of the connector 4 and the guide rail 6 can swing relative to the ball joint mechanism 5. In other words, the ball joint mechanism 5 can be a single ball joint mechanism or a double ball joint mechanism. As described in the figure, the ball joint mechanism 5 is preferably a double ball joint mechanism. The double ball joint mechanism is actually a three-section multi-degree-of-freedom structure. Compared with the two-section structure of a single ball joint, it can increase the working range of the stereotactic device 100 and the flexibility of adjustment on the adjustment device 900.

[0058] The bracket 7 is slidably mounted on the guide rail 6 to achieve sliding relative to the guide rail 6. One end of the bracket 7 can be either sleeved on the guide rail 6 or not sleeved on the guide rail 6. Furthermore, the bracket 7 and the guide rail 6 have only one compatible direction and cannot rotate relative to each other.

[0059] The support 7 is also used to mount a guide 8, which guides the direction of the puncture channel in stereotactic puncture surgery. Specifically, the axis of the guide 8 is aligned with the desired approach direction. The guide 8 is located at the end of the support 7 furthest from the guide rail 6 (also referred to as the end). As depicted, the guide 8 is embedded in one end of the support 7. However, in other embodiments, the guide 8 may also be sleeved onto one end of the support 7.

[0060] The sliding direction of the support 7 on the guide rail 6 is preferably parallel to the axis of the guide 8, that is, the axis of the guide 8 is parallel to the guide rail 6, which makes it easier to control the direction of stereotactic puncture.

[0061] In one embodiment, the stereotactic device 100 also includes a locking screw 701, which is used to lock the bracket 7 and the guide rail 6, so that the bracket 7 and the guide rail 6 remain relatively fixed. This structure is simple, easy to operate, and the locking and fixing are reliable.

[0062] Understandably, by providing a base adapter 2 between the base 1 and the connector 4, with one end of the base adapter 2 uniquely fitted to the base 1 and the other end pivotally connected to and lockable to the connector 4, this structure ensures that the stereotactic device 100 has more freedom of adjustment on the adjustment device 900 described later, improving the flexibility and convenience of the stereotactic device 100's adjustment. It also ensures that after the stereotactic device 100 is adjusted and locked, it can be disassembled as a whole and easily installed on the base 1. Thus, it ensures adjustment accuracy while facilitating disassembly and assembly.

[0063] like Figure 1 As shown, the ball joint mechanism 5 preferably includes a connecting ball joint 501, a guide rail ball joint 502, a ball joint support structure, and a ball joint locking structure. The ball joint support structure supports and mounts the connecting ball joint 501 and the guide rail ball joint 502. The connecting ball joint 501 is fixedly connected to the other end of the connector 4. The guide rail ball joint 502 is fixedly connected to the guide rail 6. The ball joint locking structure connects the ball joint support structure, making the ball joint mechanism 5 a single unit. Simultaneously, the ball joint locking structure can lock the connecting ball joint 501 and the guide rail ball joint 502, thus fixing them and keeping them fixed relative to the locking structure. This double ball joint mechanism has more degrees of freedom, allowing the guide 8 to be adjusted within a wider range of positions relative to the base adapter 2, improving the installation flexibility of the stereoscopic orientation device 100.

[0064] In one embodiment, the ball head support structure consists of a first clamping plate 504 and a second clamping plate 505; the connecting end ball head 501 and the guide rail end ball head 502 are located between the first clamping plate 504 and the second clamping plate 505; when not locked, the two ball heads can move in all directions; when locked, the two ball heads can be pressed and fixed by the two clamping plates. The structure is simple, easy to operate, safe and reliable.

[0065] In one embodiment, the ball head locking structure includes a clamping bolt 506, which connects a first clamping plate 504 and a second clamping plate 505. By pre-tightening the first and second clamping plates 504 and 505, the first and second clamping plates 504 and 505 can clamp the connecting end ball head 501 and the guide rail end ball head 502 to achieve locking. Specifically, by adjusting the clamping bolt 506, the first and second clamping plates 505 and 504 can be pre-tightened or loosened. Pre-tightening to a certain extent can press and fix the connecting end ball head 501 and the guide rail end ball head 502. The structure is simple, the locking operation is convenient, and the locking is firm and reliable.

[0066] Furthermore, to increase the locking force of the ball joint mechanism 5, a rubber ring 503 is preferably fitted onto the connecting end ball joint 501 and / or the guide rail end ball joint 502. While increasing the locking force using the rubber ring 503, it also prevents wear on the ball joint, thus ensuring positioning accuracy.

[0067] Furthermore, when the connecting ball head 501 is connected to the connector 4, the connecting ball head 501 has a ball head body and a connecting end port extending outward from the ball head body. The ball head body is embedded in one end of the ball head support structure, and the connecting end port is directly and fixedly connected to the connector 4. The fixed connection method is not limited, for example, welding, crimping, or other various methods. Optionally, as shown in the figure, the connecting end port of the connecting ball head 501 is directly embedded in the other end of the connector 4. The two are shape-matched and the matching direction is unique, ensuring that the connector 4 and the connecting ball head 501 are relatively fixed.

[0068] Similarly, when the guide rail end ball head 502 is connected to the guide rail 6, the guide rail end ball head 502 has a ball head body and a guide rail end port extending outward from the ball head body. The ball head body is embedded in the other end of the ball head support structure, and the guide rail end port is directly and fixedly connected to the guide rail 6. The fixed connection method is not limited, for example, welding, pressing, or other various methods. Optionally, as shown in the figure, the guide rail end port of the guide rail end ball head 502 is embedded in one end of the guide rail 6. The two are shaped and adapted in a unique direction, so that the guide rail 6 and the guide rail end ball head 502 remain relatively fixed.

[0069] Preferably, the connection end port and the guide rail end port are configured as flat cylindrical shapes, which match the flat holes provided in the connector 4 and the guide rail 6, respectively.

[0070] Figure 2 The assembly structure of the base adapter 2 is shown. The base 1 has a column (not labeled), and the base adapter 2 has an opening that matches the shape of the column of the base 1, extending through the base adapter 2. The shapes of the column of the base 1 and the opening of the base adapter 2 are designed to keep the base 1 and base adapter 2 relatively fixed and ensure that their adaptation direction is unique. Preferably, the column of the base 1 is an asymmetrical polygon or a flattened cylinder, matching the opening provided in the base adapter 2.

[0071] Meanwhile, the base adapter 2 is externally fitted with a connector 4, and the external shape of the base adapter 2 is usually cylindrical.

[0072] In one implementation, the outer peripheral surface of the base adapter 2 is provided with a slot (not marked) for engaging with the aforementioned set screw 401 to achieve locking. Specifically, the locking nut 3 passes through the opening of the base adapter 2 and is inserted into the internal thread of the column of the base 1 for locking, while the set screw 401 passes through one end of the connector 4 and locks with the slot. This structure is simple, unlocking and locking are very convenient, and the locking is safe and reliable.

[0073] To ensure a better fit between base 1 and base adapter 2, the opening of base adapter 2 and the column of base 1 are preferably fitted with a tapered joint. This tapered joint allows for a tight fit between base 1 and base adapter 2, preventing displacement or loosening during stereotactic puncture, thus guaranteeing positioning accuracy and stability, while also facilitating the disassembly of base adapter 2 and base 1. Furthermore, a Morse taper fit between the opening of base adapter 2 and the column of base 1 further enhances the performance.

[0074] This embodiment also provides an adjustment device 900, see details. Figures 3 to 5 The adjustment device 900 is used to adjust the positioning of the stereotactic device 100, ultimately aligning the axial direction of the guide 8 with the desired approach direction. See details... Figure 6 and Figure 7 .

[0075] The adjustment device 900 includes at least: a base fixing component 905, a protractor 908, an angle adjuster 909, a guide component 910, an X-axis displacement stage 902, a Y-axis displacement stage 903, and a Z-axis displacement stage 904. The X-axis displacement stage 902, the Y-axis displacement stage 903, and the Z-axis displacement stage 904 are all linear displacement stages, and the three are arranged orthogonally in space. The X-axis and Y-axis represent two mutually perpendicular horizontal directions, and the Z-axis represents the vertical direction.

[0076] In actual use, after adjusting the positions of the three displacement stages, the protractor 908, and the angle adjuster 909, the parts of the stereo orientation device 100 other than the base 1 are mounted on the base fixing member 905 via the base adapter 2, thus achieving stereo orientation of the stereo orientation device 100. It should be noted that the assembly method between the base fixing member 905 and the base adapter 2 is consistent with the assembly method between the base 1 and the base adapter 2. Furthermore, the base fixing member 905 is preferably a base fixing plate with a simple structure and easy processing.

[0077] The base fixing member 905 is slidably mounted on the Z-axis displacement stage 904, allowing it to slide vertically and adjust its up-and-down position. The base fixing member 905 can also be locked in place, maintaining relative fixation between it and the Z-axis displacement stage 904. Simultaneously, the Z-axis displacement stage 904 is slidably mounted on the X-axis displacement stage 902, allowing it to slide along the X-direction and adjust the X-direction position of the base fixing member 905. The Z-axis displacement stage 904 can also be locked in place, maintaining relative fixation between it and the X-axis displacement stage 902.

[0078] The protractor 908 is slidably mounted on the Y-direction displacement stage 903, allowing the protractor 9085 to slide along the Y direction, thereby adjusting the Y-direction position of the protractor 908. The protractor 908 can also be locked in place. Furthermore, the protractor 908 is configured to rotate about a rotation center axis A, thereby adjusting its orientation. Preferably, the rotation center axis A is parallel to the X-direction displacement stage 902. This application does not impose special requirements on the shape of the protractor 908; therefore, it includes, but is not limited to, the semi-circular ring structure shown in the figures.

[0079] The angle adjuster 909 is slidably mounted on the protractor 908, allowing it to slide along the protractor 908 to adjust the angle. After adjustment, the angle adjuster 909 can be locked. The angle adjuster 909 also serves to mount the guide member 910, which is detachably mounted to the angle adjuster 909. Generally, the angle adjuster 909 has a guide hole for embedding the guide member 910 and restricting its axial direction, which is the desired entry direction. The guide member 910 is preferably a slender rod-like structure for easy passage through the guide 8.

[0080] The angle adjuster 909 not only needs to slide and lock on the protractor 908, but also needs to ensure that the guide 910 always points to the target point. Specifically, the axis of the guide 910 intersects the rotation center axis A at the target point (i.e., the target).

[0081] In the embodiment described in the figure, the target point is the orthographic projection of the geometric center of the protractor 908 onto the rotation center axis A. That is, in the Y direction, the target point and the geometric center of the protractor 908 are offset. Similarly, the axis of the guide member 910 is also offset relative to the plane where the protractor 908 is located. The two offsets should be kept consistent. It should also be understood that in other cases, the target point and the geometric center of the protractor 908 may coincide.

[0082] Therefore, by moving the three displacement stages, their coordinate positions can be aligned with the coordinate positions of the patient's lesion 1001 in the coordinate system of base 1. Furthermore, by rotating the protractor 908 and moving the angle adjuster 909, the direction guided by the axis of the angle adjuster 909 can be aligned with the approach angle of the patient's lesion 1001 in the coordinate system of base 1. After adjusting the positions of the three displacement stages, the protractor 908, and the angle adjuster 909, the stereotactic device 100 (excluding base 1) can be mounted on the base fixing member 905 via the base adapter 2. Using a head-to-tail fixing and adjustment method, the stereotactic device 100 is stereotactically oriented, ensuring that the axis of the guide 8 points towards the stereotactic puncture approach direction established by the surgical path planning software and passes through the center of the patient's lesion 1001. This improves the orientation accuracy of the stereotactic device 100 and reduces the difficulty of adjustment.

[0083] In one implementation, the adjustment device 900 also includes a base 901, on which the X-axis displacement stage 902 and the Y-axis displacement stage 903 are orthogonally fixed. The base 901 enables the integration of the X-axis displacement stage 902 and the Y-axis displacement stage 903, thereby achieving the integration of the adjustment device 900.

[0084] exist Figures 3 to 6 In this design, the X-axis displacement stage 902, Y-axis displacement stage 903, and Z-axis displacement stage 904 all include slide rails and sliders, with the sliders sliding on the slide rails in a lockable manner. Preferably, both the slide rails and sliders are provided with displacement scales; specifically, the slide rails have large scales, and the sliders have small scales, which facilitates displaying the displacement of the displacement stages and controlling the adjustment accuracy, which can reach 0.1 mm.

[0085] Preferably, the scales and movement directions of the three displacement stages are consistent with the coordinate axis directions of the coordinate system of the base fixing component 905. That is, the X-axis displacement stage 902 corresponds to the X-axis direction of the coordinate axis, the Y-axis displacement stage 903 corresponds to the Y-axis direction of the coordinate axis, and the Z-axis displacement stage 904 corresponds to the Z-axis direction of the coordinate axis, making the orientation adjustment operation more convenient and the positioning more accurate.

[0086] Preferably, one side of the protractor 908 is provided with angle graduations, which can indicate the orientation of the axis of the angle adjuster 909, facilitating control of adjustment accuracy. As described in the figure, the angle adjuster 909 is provided with an inner guide hole, and the angle graduations indicate the orientation of the axis of the guide hole.

[0087] In one embodiment, the X-axis displacement stage 902 includes an X-axis slide rail 9021, an X-axis rack 9022, an X-axis slider 9023, an X-axis fine-tuning knob 9024, and an X-axis locking screw 9025; the Z-axis displacement stage 904 is mounted on the X-axis slider 9023; the X-axis fine-tuning knob 9024 is connected to the X-axis slider 9023; the X-axis fine-tuning knob 9024 can be driven to move the X-axis slider 9023 along the X-axis slide rail 9021 on the X-axis rack 9022; at the same time, the X-axis locking screw 9025 can be used to lock the X-axis slider 9023 and the X-axis slide rail 9021, so that the X-axis slider 9023 and the X-axis slide rail 9021 remain relatively fixed.

[0088] In one embodiment, the Y-axis displacement stage 903 includes a Y-axis slide rail 9031, a Y-axis rack 9032, a Y-axis slider 9033, a Y-axis fine-tuning knob 9034, and a Y-axis locking screw 9035; a protractor 908 is mounted on the Y-axis slider 9033; the Y-axis fine-tuning knob 9034 is connected to the Y-axis slider 9033; the Y-axis fine-tuning knob 9034 can be driven to move the Y-axis slider 9033 along the Y-axis slide rail 9031 on the Y-axis rack 9032; and the Y-axis locking screw 9035 locks the Y-axis slider 9033 and the Y-axis slide rail 9031.

[0089] In one embodiment, the Z-axis displacement stage 904 includes a Z-axis slide rail 9041, a Z-axis rack 9042, a Z-axis slider 9043, a Z-axis fine-tuning knob 9044, and a Z-axis locking screw 9045; a base fixing member 905 is mounted on the Z-axis slider 9043; the Z-axis fine-tuning knob 9044 is connected to the Z-axis slider 9043; the Z-axis fine-tuning knob 9044 can be driven to move the Z-axis slider 9043 along the Z-axis slide rail 9041 on the Z-axis rack 9042; and the Z-axis locking screw 9045 is used to lock the Z-axis slider 9043 and the Z-axis slide rail 9041.

[0090] The above-described displacement stages have simple structures, making them easy to adjust and lock. Of course, besides the implementation methods listed in the above embodiments, those skilled in the art can find other alternative methods to achieve the functions / effects described in this application based on the description in this specification, and not just the solutions disclosed in this embodiment.

[0091] Furthermore, the adjustment device 900 also includes a support 906 and a rotary table 907; the rotary table 907 is pivotally mounted on the top of the support 906; the bottom end of the support 906 is slidably mounted on the Y-axis displacement stage 903; one end of the protractor 908 is fixed on the rotary table 907; the rotary table 907 can be driven to rotate the protractor 908 around the rotation center axis A, at which time the rotation center axis A is parallel to the X-axis displacement stage 902; this facilitates the rotation of the protractor 908. In this case, the aforementioned target point is the orthographic projection of the geometric center of the protractor 908 onto the rotation center axis A.

[0092] Figures 3 to 4 In this configuration, the bottom end of the support 906 is fixed to the Y-axis slider 9033, ensuring that the rotation center axis A of the protractor 908 is positioned at a certain height. It is understood that both the rotary table 907 and the angle adjuster 909 can be locked by relevant structures. Preferably, the angle adjuster 909 is locked to the protractor 908 by a locking pin 9091, thus maintaining a relatively fixed relationship between the angle adjuster 909 and the protractor 908.

[0093] In one embodiment, the rotary table 907 includes a mounting base 9071, a turntable 9072, a handle 9073, and a locking pin 9074; the mounting base 9071 is fixed to the top of the support 906; the turntable 9072 is rotatably mounted on the mounting base 9071; the handle 9073 is connected to the turntable 9072, and the handle 9073 can assist in adjusting the rotation of the turntable 9072; the locking pin 9074 is used to lock the turntable 9072 and the mounting base 9071, so that the turntable 9072 and the mounting base 9071 remain relatively fixed; one end of the protractor 908 is fixed to the turntable 9072, and the two can be rigidly connected.

[0094] Figure 6 The process of adjusting the stereotactic device 100 using the adjusting device 900 is illustrated. The stereotactic device 100 is fixed to the base fixture 905 of the adjusting device 900 by a locking nut 3. The axis of the guide 8, the axis of the guide 910, and the axis of the guide hole of the angle adjuster 909 are collinear, that is, the axis of the guide hole of the angle adjuster 909 should intersect the rotation center axis of the protractor 908 at the target point. At this time, the spatial position of the target point relative to the origin of the coordinate system of the base fixture 905 is the spatial position of the center point of the patient's lesion 1001 relative to the origin of the coordinate system of the base 1. Since the axis of the guide 8 always passes through the target point of the adjusting device 900, it can be ensured that the guide 8 is in the desired approach direction.

[0095] Figure 7 The use of the stereotactic device 100 installed on the patient's head 1000 is also shown. After being adjusted and fixed by the adjustment device 900, the axis of the guide 8 in the stereotactic device 100 always points to the center of the lesion 1001.

[0096] It is understandable that the assembly method between the base fixing component 905 and the base adapter 2 can refer to the assembly method between the base 1 and the base adapter 2. Preferably, the base fixing component 905 is provided with a post, and the base adapter 2 has an opening that matches the shape of the post of the base fixing component 905. The post of the base fixing component 905 passes through the opening of the base adapter 2, and the shapes of the post of the base fixing component 905 and the opening of the base adapter 2 can keep the base fixing component 905 and the base adapter 2 relatively fixed and ensure that their matching direction is unique. More suitablely, the base fixing component 905 adopts an asymmetrical polygonal post or a flat cylindrical post that matches the shape of the opening of the base adapter 2.

[0097] Next, we will further explain the method of adjusting the position of the adjustment device 900 and the stereoscopic orientation device 100.

[0098] As one implementation method, the stereo orientation of the stereo orientation device 100 can be achieved by following these steps:

[0099] (1) Using bone screws, the base 1 with metal markers 101 is pre-installed and fixed in the bone puncture area of ​​the patient's head 1000;

[0100] (2) Perform CT image scanning on the head 1000 of the patient carrying base 1;

[0101] (3) Based on the structural parameters of the stereotactic device 100 and CT image data, the surgical path planning software is used to identify the position of the metal marker 101 and the patient's lesion 1001, establish a stereotactic puncture approach, and obtain the coordinate values ​​of the patient's lesion 1001 (i.e. the target position) in the coordinate system of the base 1 and the approach swing angle respectively.

[0102] Here, based on the existing technology, those skilled in the art should know how to obtain the mechanism parameters of the stereotactic device 100, and should also know how to use the identified metal marker point 101 and the position of the patient lesion 1001 to obtain the coordinate value of the lesion 1001 in the coordinate system of the base 1 and the approach swing angle based on the mechanism kinematic equation. In this regard, no further detailed explanation will be given.

[0103] (4) Based on the coordinate values ​​of the patient's lesion 1001 in the coordinate system of the base 1, the X-direction displacement stage 902, Y-direction displacement stage 903, and Z-direction displacement stage 904 are moved to the corresponding coordinate positions, and then the sliders on each displacement stage are locked so that each displacement stage remains stationary at the current coordinate position.

[0104] Under normal circumstances, the coordinate system direction of each displacement stage is consistent with the coordinate system direction of the base 1. Therefore, the coordinate position of the X-axis displacement stage 902 corresponds to the X-axis coordinate position of the patient lesion 1001 in the coordinate system of the base 1, the coordinate position of the Y-axis displacement stage 903 corresponds to the Y-axis coordinate position of the patient lesion 1001 in the coordinate system of the base 1, and the coordinate position of the Z-axis displacement stage 904 corresponds to the Z-axis coordinate position of the patient lesion 1001 in the coordinate system of the base 1.

[0105] (5) Based on the approach angle of the patient's lesion 1001 in the coordinate system of the base 1, adjust the rotation angle of the rotary table 907 and the position of the angle adjuster 909 on the protractor 908 respectively, and then lock the rotary table 907 and the angle adjuster 909 so that the protractor 908 and the angle adjuster 909 remain in the current position.

[0106] (6) After adjusting the positions of each displacement stage, protractor 908 and angle adjuster 909: First, remove the guide 910 from the angle adjuster 909; then, loosen all the locking nuts 3, set screws 401, clamping bolts 506 and locking screws 701 on the stereotactic device 100, and install the stereotactic device 100 except for the base 1 on the base fixing part 905 through the locking nuts 3; then, pass the guide 910 through the guide holes of the guide 8 and the angle adjuster 909 in sequence; then, lock the locking screws 701, set screws 401 and clamping bolts 506 in sequence; after that, remove the guide 910, loosen the locking nuts 3, and remove the stereotactic device 100 from the base fixing part 905; install the removed stereotactic device 100 on the base 1 that was previously fixed to the patient's head 1000, and fix it with the locking nuts 3, thus completing the stereotactic procedure. At this time, the axis of the guide 8 is the direction of the three-dimensional puncture approach established by the surgical path planning software, and passes through the center of the patient's lesion 1001.

[0107] Therefore, when the stereo orientation device 100 is adjusted on the adjustment device 900, it is preferable to lock the bracket 7, connector 4, and ball joint mechanism 5 in sequence. This can eliminate the influence of the fit error of the internal components of the stereo orientation device 100 on the final guiding result, improve the orientation accuracy of the stereo orientation device 100, and reduce the difficulty of adjustment.

[0108] It is also understood that the adjustment device 900 has three adjustable translational degrees of freedom and two adjustable rotational degrees of freedom. The three adjustable translational degrees of freedom are used to adjust the position of the target point relative to the origin of the coordinate system of the base fixture 905, and the two adjustable rotational degrees of freedom are used to adjust the direction of the stereotactic approach. Therefore, the target point on the adjustment device 900 is the stereotactic target. By moving the three orthogonally arranged displacement stages, the position of the target relative to the base fixture 905 is adjusted. At this time, the guide 910 sliding on the angle adjuster 909 of the protractor 908 always points to the target. Then, the stereotactic device 100, excluding the base 1, is installed on the base fixture 905, so that the guide 910 passes through the guide 8 and is fixed by the ball head mechanism 5. The stereotactic device 100, after being fixed on the adjustment device 900, is disassembled and installed on the base 1, which has been fixed to the patient's head 1000. At this time, the axial direction of the guide 8 points to the lesion 1001 of the patient.

[0109] Furthermore, for ease of calculation, the origin of the coordinate system established for the base fixture 905 should ideally fall on the rotation center axis A of the protractor 908; that is, the origin of the coordinate system of the base fixture 905 and the rotation center axis A should be collinear. Adjusting the position of the target relative to the base fixture 905 is equivalent to adjusting the position of the target relative to the origin of the coordinate system of the base fixture 905. In addition, after adjusting the relative position of the target relative to the origin of the coordinate system of the base fixture 905, each displacement stage, rotary stage 907, and angle adjuster 909 should be locked and fixed sequentially to ensure orientation accuracy.

[0110] Finally, this embodiment also provides a stereo orientation system, which includes: the adjustment device 900 and the stereo orientation device 100 provided in this embodiment. Through the cooperation of the two, the stereo orientation device 100 is accurately positioned, improving the positioning accuracy of the stereo orientation device 100, while reducing the difficulty of positioning adjustment.

[0111] While the present invention has been disclosed above, it is not limited thereto. Those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if such modifications and variations fall within the protection scope of the present invention and its equivalents, the present invention also intends to include such modifications and variations.

Claims

1. A stereoscopic orientation device, characterized in that, include: Base, the base being used to fix to the target object; A base adapter, wherein the base adapter is detachably fixed to the base; Connector, one end of which is pivotally mounted to the base adapter; A ball joint mechanism, one end of which is fixedly connected to the other end of the connector; A guide rail, which is fixedly connected to the other end of the ball joint mechanism; and, A bracket, which is slidably mounted on the guide rail, is used to install a guide, the axis of which is aligned with the desired approach direction.

2. The stereotactic device according to claim 1, characterized in that, The ball joint mechanism includes a connecting ball joint, a guide rail ball joint, a ball joint support structure, and a ball joint locking structure. The ball joint support structure supports and mounts the connecting ball joint and the guide rail ball joint. The connecting ball joint is fixedly connected to the other end of the connector. The guide rail ball joint is fixedly connected to the guide rail. The ball joint locking structure is connected to the ball joint support structure and can lock the connecting ball joint and the guide rail ball joint.

3. The stereotactic device according to claim 2, characterized in that, The ball head support structure consists of a first clamping plate and a second clamping plate. The connecting end ball head and the guide rail end ball head are located between the first clamping plate and the second clamping plate. The ball head locking structure includes a clamping bolt, which connects the first clamping plate and the second clamping plate and can clamp the connecting end ball head and the guide rail end ball head to achieve locking by pre-tightening the first clamping plate and the second clamping plate; and / or, a rubber ring is fitted on the connecting end ball head and / or the guide rail end ball head.

4. The stereotactic device according to claim 1, characterized in that, The base is provided with a column, and the base adapter has an opening adapted to the shape of the column. The column passes through the opening, and the shapes of the column and the opening are set to keep the base and the base adapter relatively fixed.

5. The stereotactic device according to claim 4, characterized in that, The opening of the base adapter and the column of the base are tapered; and / or, the stereo orientation device further includes a set screw and a locking nut, the outer peripheral surface of the base adapter is provided with a groove, the locking nut passes through the opening and is inserted into the column for locking, and the set screw passes through one end of the connector and locks with the groove.

6. An adjusting device, characterized in that, Used to achieve the positioning adjustment of the stereotactic device as described in any one of claims 1-5, so that the axial direction of the guide coincides with the desired approach direction; The adjustment device includes: a base fixing component, a protractor, an angle adjuster, a guide component, an X-axis displacement stage, a Y-axis displacement stage, and a Z-axis displacement stage; The base fixing member is detachably mounted on the base adapter, the base fixing member is slidably mounted on the Z-axis displacement stage, and the Z-axis displacement stage is slidably mounted on the X-axis displacement stage; The protractor is slidably mounted on the Y-axis displacement stage, and the protractor is capable of rotating about a rotation center axis. The angle adjuster is slidably mounted on the protractor. The guide is detachably mounted on the angle adjuster, and the axis of the guide intersects the axis of rotation at a target point. The target point coincides with the geometric center of the protractor, or the target point is the orthographic projection of the geometric center of the protractor onto the axis of rotation.

7. The adjusting device according to claim 6, characterized in that, The adjustment device further includes: a rotating platform and a support; the rotating platform is pivotally mounted on the top of the support; the bottom end of the support is slidably mounted on the Y-axis displacement platform; one end of the protractor is fixed on the rotating platform; the rotating platform can be driven to rotate the protractor around the rotation center axis, which is parallel to the X-axis displacement platform.

8. The adjusting device according to claim 6, characterized in that, The regulating device also satisfies at least one of the following: The X-axis displacement stage includes an X-axis slide rail, an X-axis slider, an X-axis fine-tuning knob, an X-axis rack, and an X-axis locking screw; the Z-axis displacement stage is mounted on the X-axis slider; the X-axis fine-tuning knob is connected to the X-axis slider; the X-axis fine-tuning knob can be driven to move the X-axis slider along the X-axis slide rail on the X-axis rack; the X-axis locking screw is used to lock the X-axis slider and the X-axis slide rail; The Y-axis displacement stage includes a Y-axis slide rail, a Y-axis slider, a Y-axis fine-tuning knob, a Y-axis rack, and a Y-axis locking screw; the protractor is mounted on the Y-axis slider; the Y-axis fine-tuning knob is connected to the Y-axis slider; the Y-axis fine-tuning knob can be driven to move the Y-axis slider along the Y-axis slide rail on the Y-axis rack; the Y-axis locking screw is used to lock the Y-axis slider and the Y-axis slide rail; The Z-axis displacement stage includes a Z-axis slide rail, a Z-axis slider, a Z-axis fine-tuning knob, a Z-axis rack, and a Z-axis locking screw; the base fixing member is mounted on the Z-axis slider; the Z-axis fine-tuning knob is connected to the Z-axis slider; the Z-axis fine-tuning knob can be driven to move the Z-axis slider along the Z-axis slide rail on the Z-axis rack; the Z-axis locking screw is used to lock the Z-axis slider and the Z-axis slide rail.

9. The adjusting device according to claim 6, characterized in that, The regulating device also satisfies at least one of the following: The X-axis displacement stage, the Y-axis displacement stage, and the Z-axis displacement stage all include a slide rail and a slider; the slider is slidably mounted on the slide rail, and both the slide rail and the slider are provided with displacement markings; One side of the protractor has angle markings; The base fixing component is provided with a column, and the base adapter has an opening adapted to the shape of the column of the base fixing component. The column of the base fixing component passes through the opening, and the shape of the column and the opening of the base fixing component is set to enable the base fixing component and the base adapter to remain relatively fixed.

10. A stereo orientation system, characterized in that, include: The stereotactic device as described in any one of claims 1-5; And the adjusting device as described in any one of claims 6-9.

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