CT connecting bed minimally invasive interventional arc precise three-dimensional automatic positioning device

Abstract

The utility model relates to the field of puncture positioning, specifically disclose a CT continuous bed minimally invasive intervention arc accurate three -dimensional automatic positioning device, including operating table, a set of clamping fixed establishment, slide rail mechanism, drive mechanism, vertical module and actuating mechanism, a set of clamping fixed establishment left -right symmetry fixed clamping in operating table, the both ends of slide rail mechanism are fixedly installed on a set of clamping fixed establishment, drive mechanism works and will along slide rail mechanism slide, vertical module fixedly installed on drive mechanism, the utility model discloses through integrated arc slide rail mechanism and vertical module, realize actuating mechanism in horizontal circumference, vertical lifting and transverse feeding three -dimensional dimension linkage, can accurate recurrence CT planning's complex puncture path, and positioning error control is in submillimeter level, clamping fixed establishment is through the threaded clamping block quick installation operating table edge, and the arc slide rail adopts the design of hasp lock, supports the quick completion equipment deployment and fixed.

Description

Technical Field

[0001] This utility model belongs to the field of puncture positioning, specifically a CT-connected bed minimally invasive interventional arc-shaped precise three-dimensional automatic positioning device. Background Technology

[0002] With the advancement of medicine, local tumor treatment is increasingly moving towards precision and minimally invasive approaches. CT-guided interventional diagnosis and treatment is an important component of non-vascular interventional diagnosis and treatment. Due to its advantages such as accurate localization and precise targeting, as well as its simplicity and minimal invasiveness, it is now widely used in clinical practice. CT-guided minimally invasive interventional diagnosis and treatment of tumors mainly includes radiofrequency ablation and microwave ablation of tumors, implantation of 125I particles into tumors, and puncture biopsy of tumors in various locations. CT-guided minimally invasive interventional treatment for pain mainly includes radiofrequency ablation of intervertebral discs, radiofrequency modulation of dorsal root ganglia, radiofrequency ablation or balloon dilation of the Gasserian ganglion, and nerve blocks in various locations.

[0003] Currently, most CT-guided minimally invasive non-vascular interventional treatments for tumors and pain still rely on traditional manual needle insertion based on experience and blind puncture, resulting in low precision and a lack of effective positioning, fixation, and calibration devices. Utility Model Content

[0004] To address the aforementioned technical problems, this utility model provides a CT-connected bed minimally invasive interventional arc-shaped precise three-dimensional automatic positioning device, which solves the problems of low accuracy and lack of effective positioning assistance, fixation and calibration devices in the traditional manual needle-holding blind puncture method based on experience in the prior art.

[0005] A CT-connected bed minimally invasive interventional arc-shaped precise three-dimensional automatic positioning device includes an operating table, a set of clamping and fixing mechanisms, a slide rail mechanism, a drive mechanism, a vertical module, and an execution mechanism;

[0006] A set of clamping and fixing mechanisms are symmetrically fixed and embedded on the operating table. The two ends of the slide rail mechanism are respectively fixedly installed on the set of clamping and fixing mechanisms. When the drive mechanism is working, it slides along the slide rail mechanism. The vertical module is fixedly installed on the drive mechanism. The actuator is set on the slider of the vertical module.

[0007] Preferably, the clamping and fixing mechanism includes a fixed rail, with threaded clamping blocks fixedly installed at both ends of the fixed rail. A sliding block is slidably connected to the fixed rail, and a threaded positioning rod is rotatably connected to the outer side of the sliding block. The threaded positioning rod is used to fix the sliding block to the fixed rail.

[0008] Preferably, the slide rail mechanism includes a set of fixing blocks and an arc-shaped slide rail, both ends of which are fixedly embedded in the corresponding fixing blocks, and the fixing blocks and the arc-shaped slide rail are fixed by a snap lock;

[0009] The fixing block is fixedly installed on the clamping and fixing mechanism by a screw.

[0010] Preferably, the drive mechanism includes a mounting plate, a plurality of track wheels are rotatably connected to one side of the mounting plate, and a motor is fixedly mounted on the other side of the mounting plate by bolts. A gear is fixedly connected to the output end of the motor, and the gear and the plurality of track wheels are located on the same side of the mounting plate.

[0011] The mounting plate slides along an arc-shaped slide rail via several track wheels. The gears and the arc-shaped slide rail mesh with each other. The vertical module is fixedly mounted on the mounting plate by screws.

[0012] Preferably, the vertical module includes a drive assembly, a transmission assembly, a guide assembly, and a support structure;

[0013] Drive assembly: Consists of a motor, a drive pulley, a driven pulley, and a toothed belt. The motor drives the drive pulley to rotate, and the toothed belt drives the driven pulley to rotate synchronously.

[0014] Transmission assembly: The driven pulley is fixedly connected to the ball screw. When the ball screw rotates, it drives the nut to move axially. The nut and the moving slider are integrated into the design.

[0015] Guide components: Vertically mounted linear guide rails are used, and the slider cooperates with the guide rails to ensure linear motion. The guide rails are fixed to the module base by brackets.

[0016] Support structure: including housing, bearing housing and end cap, used to support ball screw bearing and enclose and protect transmission components.

[0017] Preferably, the actuator includes a mounting arm, an electric guide rail is fixedly mounted on the lower end of the outer side of the mounting arm, a tumor minimally invasive treatment template is damped and rotatably connected to the outer side of the electric guide rail, and an inclinometer is fixedly mounted on the upper side of the electric guide rail.

[0018] The mounting arm is fixedly mounted on the slider of the vertical module.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] By integrating the arc-shaped slide rail mechanism and the vertical module, the actuator can achieve three-dimensional linkage in horizontal circumference, vertical lifting and lowering and lateral feeding, which can accurately reproduce the complex puncture path planned by CT.

[0021] The clamping and fixing mechanism is quickly installed on the edge of the operating table via threaded clamps. The arc-shaped slide rail adopts a snap-lock design to support the rapid deployment and fixation of the equipment. The damping axis of the minimally invasive tumor treatment template provides manual fine-tuning flexibility. The tilt meter provides real-time feedback of angle data, forming a closed-loop control with the CT imaging system to reduce the risk of puncture complications.

[0022] This device precisely moves the tumor minimally invasive treatment template to the skin projection area of ​​the tumor target zone. It accurately transmits information such as CT image layers and needle insertion angle to the template, enabling rapid and accurate template positioning and calibration for non-vascular minimally invasive surgery. It is simple to operate, safe, highly accurate, flexible, and stable. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0024] Figure 2 This is an exploded structural diagram of the present invention;

[0025] Figure 3 This is a schematic diagram of the clamping and fixing mechanism of this utility model;

[0026] Figure 4 This is a partial structural schematic diagram of the slide rail mechanism of this utility model;

[0027] Figure 5 This is a schematic diagram of the drive mechanism of this utility model;

[0028] Figure 6 This is a schematic diagram of the structure of the actuator of this utility model;

[0029] Figure 7 This is a top view of the present invention.

[0030] In the diagram: 1. Operating table; 2. Clamping and fixing mechanism; 21. Fixed rail; 22. Threaded clamping block; 23. Sliding block; 24. Threaded positioning rod; 3. Slide rail mechanism; 31. Fixed block; 32. Arc-shaped slide rail; 4. Drive mechanism; 41. Mounting plate; 42. Track wheel; 43. Motor; 44. Gear; 5. Vertical module; 6. Actuator; 61. Mounting arm; 62. Electric guide rail; 63. Tumor minimally invasive treatment template; 64. Inclinometer. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] like Figure 1 , 2 and Figure 7 As shown:

[0033] Example 1: This utility model provides a CT-connected bed minimally invasive interventional arc-shaped precise three-dimensional automatic positioning device, including an operating table 1, a set of clamping and fixing mechanisms 2, a slide rail mechanism 3, a drive mechanism 4, a vertical module 5, and an execution mechanism 6;

[0034] A set of clamping and fixing mechanisms 2 are symmetrically fixed and embedded on the operating table 1. The two ends of the slide rail mechanism 3 are respectively fixedly installed on the set of clamping and fixing mechanisms 2. When the drive mechanism 4 is working, it will slide along the slide rail mechanism 3. The vertical module 5 is fixedly installed on the drive mechanism 4. The execution mechanism 6 is set on the slider of the vertical module 5.

[0035] As can be seen from the above, this device uses the operating table 1 as the base, with the left and right symmetrical clamping and fixing mechanisms 2 firmly embedded in the table surface, and the slide rail mechanism 3 spanning and fixed between the two sets of clamping mechanisms to form a horizontal movement channel.

[0036] The drive mechanism 4 slides back and forth along the slide rail mechanism 3, driving the vertical module 5 on it to simultaneously achieve precise displacement in the width direction of the operating table;

[0037] The slider of the vertical module 5 can move up and down along the guide rail driven by a motor, which drives the actuator 6 to complete the height adjustment in the vertical direction;

[0038] The horizontal movement of the drive mechanism 4 and the lifting movement of the vertical module 5 are combined to achieve the positioning of the actuator 6 in three-dimensional space.

[0039] like Figure 3 As shown:

[0040] Example 2: The clamping and fixing mechanism 2 includes a fixed rail 21, with threaded clamping blocks 22 fixedly installed at both ends of the fixed rail 21. A sliding block 23 is slidably connected to the fixed rail 21, and a threaded positioning rod 24 is rotatably connected to the outside of the sliding block 23. The threaded positioning rod 24 is used to fix the sliding block 23 to the fixed rail 21.

[0041] As can be seen from the above, the fixed rail 21 is locked to the edge of the operating table 1 by the threaded clamps 22 at both ends, forming a stable lateral support base;

[0042] The sliding block 23 slides freely along the length of the fixed rail 21 to achieve coarse positioning of the device on the operating table;

[0043] The operator rotates the threaded positioning rod 24 on the outside of the sliding block 23 so that its end face presses against the surface of the fixed rail 21, and the sliding block 23 is fixed in the preset position by friction, thus completing the precise positioning of the clamping mechanism.

[0044] like Figure 4 As shown:

[0045] Example 3: The slide rail mechanism 3 includes a set of fixing blocks 31 and an arc-shaped slide rail 32. Both ends of the arc-shaped slide rail 32 are fixedly embedded in the corresponding fixing blocks 31. The fixing blocks 31 and the arc-shaped slide rail 32 are fixed by a snap lock.

[0046] The fixing block 31 is fixedly installed on the clamping and fixing mechanism 2 by a screw.

[0047] As can be seen from the above, the fixing block 31 is securely installed on the sliding block 23 of the clamping and fixing mechanism 2 by means of screws;

[0048] The two ends of the arc-shaped slide rail 32 are respectively inserted into the left and right fixing blocks 31 and quickly fixed by the buckle lock to form a semi-circular or customized arc movement trajectory.

[0049] The slide of the drive mechanism 4 is adapted to the arc-shaped slide rail 32. Under the drive of the motor, it moves in a circle along the slide rail, driving the vertical module 5 and the actuator 6 to realize the positioning scan or intervention operation of the arc-shaped path.

[0050] like Figure 5 As shown:

[0051] Example 4: The drive mechanism 4 includes a mounting plate 41. A plurality of track wheels 42 are rotatably connected to one side of the mounting plate 41. A motor 43 is also fixedly mounted on the other side of the mounting plate 41 by bolts. A gear 44 is fixedly connected to the output end of the motor 43. The gear 44 and the plurality of track wheels 42 are located on the same side of the mounting plate 41.

[0052] Mounting plate 41 slides along arc-shaped slide rail 32 via several track wheels 42, gear 44 meshes with arc-shaped slide rail 32, and vertical module 5 is fixedly mounted on mounting plate 41 by screws.

[0053] As can be seen from the above, the motor 43 is fixed to one side of the mounting plate 41 by bolts, and its output end drives the gear 44 to rotate. The gear 44 meshes with the rack section of the arc-shaped slide rail 32 to form a transmission pair.

[0054] Multiple track wheels 42 are installed on the other side of the mounting plate 41. The track wheels 42 roll in contact with the guide surface of the arc-shaped slide rail 32 and bear the entire load of the drive mechanism 4.

[0055] When the motor 43 starts, the gear 44 moves along the rack of the arc-shaped slide rail 32, synchronously driving the track wheel 42 to slide along the guide rail, so that the mounting plate 41 and the vertical module 5 move in a controlled arc-shaped trajectory along the slide rail 32.

[0056] The vertical module 5 is fixed to the mounting plate 41 by screws, and the range of motion of its actuator 6 is determined by the position of the drive mechanism 4 on the arc-shaped slide rail 32, forming a multi-degree-of-freedom linkage.

[0057] Example 5: The vertical module 5 includes a drive assembly, a transmission assembly, a guide assembly, and a support structure;

[0058] Drive assembly: Consists of a motor, a drive pulley, a driven pulley, and a toothed belt. The motor drives the drive pulley to rotate, and the toothed belt drives the driven pulley to rotate synchronously.

[0059] Transmission assembly: The driven pulley is fixedly connected to the ball screw. When the ball screw rotates, it drives the nut to move axially. The nut and the moving slider are integrated into the design.

[0060] Guide components: Vertically mounted linear guide rails are used, and the slider cooperates with the guide rails to ensure linear motion. The guide rails are fixed to the module base by brackets.

[0061] Support structure: including housing, bearing housing and end cap, used to support ball screw bearing and enclose and protect transmission components.

[0062] As can be seen from the above, the motor output torque of the drive component drives the driven pulley to rotate synchronously through the meshing of the driving pulley and the toothed belt, forming a belt drive system;

[0063] The driven pulley is fixedly connected to the ball screw. When the ball screw rotates, it drives the nut to move axially. The nut and the movable slider are integrated into the design to realize the conversion of rotary motion to vertical linear motion.

[0064] The vertically mounted linear guide rail is fixed to the module base by a bracket, and the slider cooperates with the guide rail to ensure that the actuator moves only in the vertical direction.

[0065] The outer shell encloses the transmission components, the bearing housings fix the two ends of the ball screw, and the end caps seal the module, forming a complete protective structure that can withstand axial loads.

[0066] like Figure 6 As shown:

[0067] Example 6: The actuator 6 includes a mounting arm 61, an electric guide rail 62 is fixedly mounted on the lower end of the outer side of the mounting arm 61, a tumor minimally invasive treatment template 63 is connected to the outer side of the electric guide rail 62 with damping rotation, and an inclinometer 64 is also fixedly mounted on the upper side of the electric guide rail 62.

[0068] Mounting arm 61 is fixedly mounted on the slider of vertical module 5;

[0069] Among them, the minimally invasive tumor treatment template 63 is used to accurately locate the puncture point in minimally invasive surgery. It can combine CT image information to ensure that the puncture needle can accurately reach the tumor target area. The minimally invasive tumor treatment template 63 solves the problem of rapid and precise implantation of radioactive particles by combining CT image data. It transmits CT DICOM images of the human body and tumor to the brachytherapy planning system, calculates non-coplanar preoperative planning data, and imports it into 3D modeling software for digital modeling. Finally, a high-precision medical 3D printer is used to print a non-coplanar template. The template closely fits the human body surface and contains patient surface reference alignment lines, positioning marks, and needle path information. During the operation, the template is placed on the patient's body surface according to the positioning lines. There is no need to consider the position and angle of needle insertion. Just follow the guide post of the template to insert the needle and implant the particles according to the plan. This avoids the error of manual operation, greatly improves the accuracy of particle implantation, and shortens the implantation treatment time.

[0070] As can be seen from the above, the mounting arm 61 is rigidly fixed on the slider of the vertical module 5, and moves up and down with the module along the vertical direction of the operating table, inheriting the arc-shaped motion trajectory of the drive mechanism 4.

[0071] The electric guide rail 62 is installed at the lower end of the mounting arm 61 and drives the tumor minimally invasive treatment template 63 to move along its axial direction.

[0072] The tumor minimally invasive treatment template 63 is connected to the electric guide rail 62 via a damping shaft, allowing manual angle adjustment. The inclinometer 64 monitors the angle data in real time and feeds it back to the control system.

[0073] Through the longitudinal movement of the vertical module 5, the arcuate movement of the drive mechanism 4, and the lateral movement of the actuator 6, the precise positioning and trajectory adjustment of the tumor minimally invasive treatment template in three-dimensional space are achieved.

[0074] All standard parts used in this invention can be purchased from the market, and irregularly shaped parts can be customized according to the description and drawings. The specific connection methods for each part all employ conventional methods such as bolts, rivets, and welding, which are mature technologies in the prior art. The machinery, parts, and equipment all use conventional models in the prior art, and the circuit connections also use conventional connection methods in the prior art, which will not be detailed here. Any content not described in detail in this specification belongs to the prior art known to those skilled in the art.

[0075] In the description of this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified.

[0076] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0077] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0078] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0079] The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0080] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A CT-connected bed minimally invasive interventional arc-shaped precise three-dimensional automatic positioning device, characterized in that, It includes an operating table (1), a set of clamping and fixing mechanisms (2), a slide rail mechanism (3), a drive mechanism (4), a vertical module (5), and an execution mechanism (6); A set of clamping and fixing mechanisms (2) are symmetrically fixed and embedded on the operating table (1). The two ends of the slide rail mechanism (3) are respectively fixedly installed on the set of clamping and fixing mechanisms (2). When the drive mechanism (4) is working, it will slide along the slide rail mechanism (3). The vertical module (5) is fixedly installed on the drive mechanism (4). The execution mechanism (6) is set on the slider of the vertical module (5).

2. The CT-connected bed minimally invasive interventional arc-shaped precise three-dimensional automatic positioning device as described in claim 1, characterized in that, The clamping and fixing mechanism (2) includes a fixed rail (21), and threaded clamps (22) are fixedly installed at both ends of the fixed rail (21). A sliding block (23) is slidably connected on the fixed rail (21), and a threaded positioning rod (24) is rotatably connected to the outside of the sliding block (23). The threaded positioning rod (24) is used to fix the sliding block (23) on the fixed rail (21).

3. The CT-connected bed minimally invasive interventional arc-shaped precise three-dimensional automatic positioning device as described in claim 1, characterized in that, The slide rail mechanism (3) includes a set of fixing blocks (31) and an arc-shaped slide rail (32). Both ends of the arc-shaped slide rail (32) are fixedly embedded in the corresponding fixing blocks (31). The fixing blocks (31) and the arc-shaped slide rail (32) are fixed by a snap lock. The fixing block (31) is fixedly installed on the clamping and fixing mechanism (2) by a screw.

4. The CT-connected bed minimally invasive interventional arc-shaped precise three-dimensional automatic positioning device as described in claim 3, characterized in that, The drive mechanism (4) includes a mounting plate (41), on one side of the mounting plate (41) are rotatably connected a plurality of track wheels (42), and on the other side of the mounting plate (41) a motor (43) is fixedly mounted by bolts. The output end of the motor (43) is fixedly connected to a gear (44), and the gear (44) and the plurality of track wheels (42) are located on the same side of the mounting plate (41). The mounting plate (41) slides along the arc-shaped slide rail (32) via several track wheels (42), the gear (44) meshes with the arc-shaped slide rail (32), and the vertical module (5) is fixedly mounted on the mounting plate (41) by screws.

5. The CT-connected bed minimally invasive interventional arc-shaped precise three-dimensional automatic positioning device as described in claim 1, characterized in that, The vertical module (5) includes a drive assembly, a transmission assembly, a guide assembly, and a support structure; Drive assembly: Consists of a motor, a drive pulley, a driven pulley, and a toothed belt. The motor drives the drive pulley to rotate, and the toothed belt drives the driven pulley to rotate synchronously. Transmission assembly: The driven pulley is fixedly connected to the ball screw. When the ball screw rotates, it drives the nut to move axially. The nut and the moving slider are integrated into the design. Guide components: Vertically mounted linear guide rails are used, and the slider cooperates with the guide rails to ensure linear motion. The guide rails are fixed to the module base by brackets. Support structure: including housing, bearing housing and end cap, used to support ball screw bearing and enclose and protect transmission components.

6. The CT-connected bed minimally invasive interventional arc-shaped precise three-dimensional automatic positioning device as described in claim 1, characterized in that, The actuator (6) includes a mounting arm (61), an electric guide rail (62) is fixedly mounted on the lower end of the outer side of the mounting arm (61), a tumor minimally invasive treatment template (63) is connected to the outer side of the electric guide rail (62) with damping rotation, and an inclinometer (64) is also fixedly mounted on the upper side of the electric guide rail (62). The mounting arm (61) is fixedly mounted on the slider of the vertical module (5).

Images