A new spinal puncture auxiliary positioning device

Abstract

A new spinal puncture auxiliary positioning device can effectively reduce the difficulty and technical threshold of operation, and solve the problem that the existing spinal puncture operation positioning cannot be simplified and rapid. It comprises a mechanical arm and a positioning grid, the mechanical arm comprises a base, a right-angle rod, a crossbar, a rotating frame, a rotating ring and a needle guide tube, the base is composed of a hollow vertical rod / leg and a BIKKE force wheel, the right-angle rod is installed in the hollow vertical rod, the hollow vertical rod is provided with a fastening knob, the right-angle rod is composed of a short side and a long side at a 90-degree angle structure; the crossbar is installed at the front end of the short side and is fixed by the fastening knob, the other end is provided with the rotating frame, the rotating frame is provided with the rotating ring, and the rotating ring is provided with the needle guide tube; the positioning grid comprises an isolation layer, a positioning layer and a drawing layer. The structure is novel and unique, the operation is convenient, the structure design is compact, the doctor can be effectively assisted to carry out rapid, convenient and flexible puncture positioning, the operation efficiency is improved, the operation time is shortened, and the social and economic benefits are remarkable.

Description

Technical Field

[0001] This utility model relates to the field of medical devices, and in particular to a novel spinal puncture auxiliary positioning device for use in assisting C-arm pole spinal surgery. Background Technology

[0002] Minimally invasive spine surgery (MISS) refers to a spinal surgical procedure performed under certain medical risks by avoiding large incisions, using small incisions or puncture channels, employing specialized instruments or devices, and guided by imaging or navigation equipment. The procedure is performed through normal anatomical structures to reach the lesion site, using various miniature manual or electric instruments, or with the aid of lasers, radiofrequency, plasma, or endoscopic visualization.

[0003] In traditional spinal surgery, a guide needle is inserted through punctures in the left or right lumbar region to reach the lesion on the spine. This procedure requires fluoroscopy using a C-arm machine.

[0004] For junior doctors, accurately puncturing the lesion on the spine is very difficult. It requires multiple fluoroscopic examinations using a C-arm machine from different angles to continuously adjust the position of the guide needle. Even experienced clinicians may encounter problems where the guide needle is not accurately positioned after insertion during the procedure, requiring repeated fluoroscopic adjustments using a C-arm machine.

[0005] Therefore, precise puncture localization can significantly reduce surgical risks and is a key step in ensuring the success of MISS (Missing Surgical Procedure). Improving the accuracy of puncture localization has always been an important research issue for spinal surgeons.

[0006] Current positioning devices suffer from high reliance on individual expertise and subjectivity. For surgeons lacking surgical experience, unfamiliar needle insertion points and puncture directions can lead to less than ideal surgical outcomes. While some existing devices exist, they suffer from complex structures, lengthy procedures, long operation times, and low efficiency. For example, the patent application CN 222217921 U, titled "A Spinal Puncture Positioning Device Assisting a C-Arm Machine," determines the final needle insertion path after two projections in the coronal and sagittal planes. However, during operation, the puncture needle must perfectly align with both projections to determine the final puncture path using the two planes. It doesn't explain how to align the puncture needle with the projections, requiring the surgeon to rely on subjective experience, which can easily lead to errors and affect the final puncture result.

[0007] Therefore, it is necessary to develop a new type of spinal puncture auxiliary positioning device to overcome the above-mentioned technical problems existing in the existing related technologies, simplify and speed up the positioning of spinal puncture surgery, reduce the difficulty and technical threshold of surgical operation, and improve surgical efficiency and effect. However, there have been no public reports to date. Utility Model Content

[0008] In view of the above situation and to overcome the shortcomings of the existing technology, the purpose of this utility model is to provide a new type of spinal puncture auxiliary positioning device, which can effectively reduce the difficulty and technical threshold of surgical operation and solve the problem that the positioning of existing spinal puncture surgery cannot be simplified or accelerated.

[0009] To achieve the above objectives, this utility model patent provides a novel spinal puncture auxiliary positioning device, comprising a robotic arm and a positioning grid. The robotic arm includes a base, a right-angle rod, a crossbar, a rotating frame, a rotating ring, and a needle insertion guide. The base is composed of a hollow vertical rod and its lower integrated support legs and acrylic casters at the lower ends of the legs, enabling the positioning device to translate along the x-axis or y-axis on the ground and preventing any minor movement during operation. The right-angle rod is movably mounted within the hollow vertical rod of the base, and a first fastening knob is mounted on the hollow vertical rod, forming a lifting and rotating structure for the right-angle rod. The lower plane of the base constitutes a first reference plane. The right-angle rod is an inverted L-shaped rod / The tube has an upper half forming the short side of an inverted L-shape and a lower half forming the long side of an inverted L-shape, with the upper and lower halves of the right-angle rod forming a 90-degree angle. The upper half of the right-angle rod is parallel to the first reference plane where the base is located. The crossbar is mounted on the front end of the short side of the right-angle rod, and one end of the crossbar is fixed to the short side of the right-angle rod by a second fastening knob, forming a crossbar adjustment and fixing structure. The other end of the crossbar is equipped with a rotating frame, on which a rotating ring is mounted, and on which a needle guide for inserting a puncture needle is mounted. The positioning grid includes an isolation layer, a positioning layer, and a drawing layer. The drawing layer and the isolation layer are placed on the positioning layer to form an integrated planar structure, used for projecting the puncture path for transplantation onto the human body surface.

[0010] This utility model has a novel and unique structure, is easy to operate and use, and has a high degree of mobility. It can achieve positioning at any position in space. The structure is compact and effectively assists doctors in performing quick, convenient and flexible puncture positioning, improving surgical efficiency and shortening surgical time. It is a major innovation in spinal puncture auxiliary positioning devices and has significant social and economic benefits. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the assembly structure of the rotating frame 4 and the rotating ring 5 of this utility model; Figure 3 This is a schematic diagram of the assembly structure of the crossbar 3 and the rotating frame 4 of this utility model; Figure 4 This is a schematic diagram of the assembly structure of the base 1, right-angle rod 2, and crossbar 3 of this utility model; Figure 5 This is the front view of the positioning grid of this utility model; Figure 6 This is a side view of the positioning grid of this utility model; Figure 7 This is a schematic diagram of the spatial position of the first projection of this utility model; Figure 8 This is a schematic diagram of the spatial position of the second projection of this utility model. Detailed Implementation

[0012] The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0013] Depend on Figure 1-8 This invention discloses a novel spinal puncture auxiliary positioning device, comprising a robotic arm and a positioning grid. The robotic arm comprises a base 1, a right-angle rod 2, a crossbar 3, a rotating frame 4, a rotating ring 5, and a needle insertion guide 6. The base 1 consists of a hollow vertical rod, an integrally mounted lower leg, and acrylic casters 1-1 at the lower end of the leg, enabling the positioning device to translate along the x-axis or y-axis on the ground and preventing any minor movement during operation. The right-angle rod 2 is movably mounted within the hollow vertical rod of the base 1, and a first fastening knob 7-1 is mounted on the hollow vertical rod, forming the lifting and rotating structure of the right-angle rod 2. The lower plane of the base 1 constitutes a first reference plane. The right-angle rod 2 is an inverted L-shaped rod / tube, with the upper half of the right-angle rod 2 forming... The short side of the right-angle rod 2 is inverted L-shaped, and the lower half forms the long side of the inverted L-shape. The upper half of the right-angle rod 2 forms a 90-degree angle with the lower half of the right-angle rod. The upper half of the right-angle rod 2 is parallel to the first reference plane where the base is located. The crossbar 3 is installed at the front end of the short side of the right-angle rod 2, and one end of the crossbar 3 is fixed to the short side of the right-angle rod 2 by the second fastening knob 7-2, forming an adjustment and fixing structure for the crossbar 3. The other end of the crossbar 3 is equipped with a rotating frame 4, and a rotating ring 5 is installed on the rotating frame 4. A needle guide 6 for inserting a puncture needle is installed on the rotating ring 5. The positioning grid includes an isolation layer 10, a positioning layer 8, and a drawing layer 9. The drawing layer 9 and the isolation layer 10 are respectively placed on the upper and lower surfaces of the positioning layer 8, forming an integrated planar structure for projecting the puncture path for transplantation onto the human body surface.

[0014] To ensure effectiveness and ease of use, the hollow vertical rod of the base 1 is nested with the long side of the right-angle rod 2, which drives the short side of the right-angle rod 2 to rise and fall and rotate around the horizontal plane, thereby causing the horizontal rod 3, the rotating ring 5 and the needle guide tube 6 to rise and fall and rotate as a whole.

[0015] The hollow vertical rod of the base has angle markings on its upper surface (not shown in the figure), and the horizontal rod 3 has length markings (not shown in the figure).

[0016] The end of the crossbar 3 is provided with a base 3-1 and a ball hinge 3-2 integral with the crossbar 3. The ball hinge 3-2 is coaxially connected to the base 3-1. A hollow connecting rod 3-3 is mounted on the ball hinge 3-2, which can provide rotation with any degree of freedom in three dimensions.

[0017] The rotating ring 5 includes a pin hole and a slide rail 5-1. The pin hole is located on the wide surface of the rotating ring 5, through which the pin guide tube 6 passes. The slide rail 5-1 is located on the narrow surfaces on both sides of the rotating ring 5 and is connected to the rotating frame 4 to realize the rotation of the rotating ring.

[0018] The rotating frame 4 includes a bracket 4-7 and a ball bearing 4-1. The bracket 4-7 is a rectangular structure with one side open. The ball bearing 4-1 is fitted into the groove of the slide rail 5-1. The rotating frame 4 is fixedly mounted in the hollow connecting rod 3-3 via a connector 4-6 and connected to the ball hinge 3-2.

[0019] The rotating frame 4 also includes a fixed rod 4-5, a fixed block 4-3, a rotating nut 4-4, and a fixed nut 4-2. The fixed rod 4-5 is located at the center of the rotating frame 4 and extends towards the rotating ring 5, and is connected to the connector 4-6 to form an integral structure. The fixed block 4-3 is located on the fixed rod 4-5, and the rotating nut 4-4 is screwed onto the end of the fixed rod 4-5, which can rotate to push the fixed block 4-3 forward and backward, thereby releasing and braking the rotating ring 5.

[0020] The described needle catheter is a tubular structure that runs through the side wall of the rotating ring 5. The puncture needle can pass through it and be fixed on the rotating ring to assist the doctor in puncture.

[0021] The positioning layer 8 is composed of intersecting lead-mercury alloy lines 8-2, and the edge 8-1 is marked with a symbol 8-3. The isolation layer 10 is located inside the positioning layer 8 and is close to the human body. The drawing layer 9 is located outside the positioning layer 8 and is used to draw the path.

[0022] The positioning layer 8 has a marker symbol 8-3 made of lead-mercury alloy pasted on its edge 8-1. The crisscrossing lead-mercury alloy lines 8-2 are evenly distributed to form a grid structure. Each vertical and horizontal lead-mercury alloy line is aligned and corresponds to a marker symbol 8-3. The crisscrossing lead-mercury alloy lines 8-2 and the marker symbol 8-3 form a two-dimensional coordinate system.

[0023] The working principle of this device is as follows: This device determines the final surgical needle insertion direction through two positioning steps. Its basic principle relies on two planes defining a straight line. After determining the planes containing the two ideal needle insertion paths, their intersection is the final surgical needle insertion direction, such as... Figure 7 , 8 AB represents the ideal puncture path. The ultimate goal of the positioning device is to find the AB line through two projections by the C-arm machine. In reality, doctors cannot determine the direction and position of the AB line with the naked eye.

[0024] After the first C-arm imaging, a two-dimensional planar image containing the lesion is obtained in the first imaging plane. The doctor determines the ideal puncture path AB on the two-dimensional image on the computer according to the location of the lesion and the needle insertion point. The path is moved to the human body surface through the positioning grid to obtain the straight line A'B'. The detector light is turned on to obtain the projection of the puncture needle (if some C-arm machines do not have positioning projection lights, adhesive LED lights can be used to attach to the center of the detector and turn on the lights). Since the puncture needle and the rotating ring are located in the same plane at this time, it is only necessary to adjust the position of the rotating ring so that the projection of the rotating ring coincides with the ideal puncture path on the human body surface. At this time, the puncture needle is located in the same plane as the ideal puncture path.

[0025] Since the C-arm will change position during the second imaging process, the rotating ring may not be within the lower light field of the detector. Therefore, it is necessary to translate the rotating ring while maintaining its position and shape. This means ensuring that the plane containing the rotating ring is parallel to the first plane, and recording the position of the first projection positioning device using the scale lines.

[0026] After the second C-arm projection, the doctor once again determines an ideal puncture path, a straight line AB, on the plane. This path is then moved to the human body surface via a positioning grid to obtain a straight line A'B'. The light on the detector is turned on to obtain the projection of the puncture needle. This projection plane must intersect with the first plane. The rotating toroidal ring is rotated to make the projection of the puncture needle coincide with the ideal puncture path A'B' on the human body surface. At this point, the plane containing the second ideal path is determined, and the parallel line of the ideal puncture path is found.

[0027] Using the scale recorded by the first projection, without changing the shape of the rotating ring, the device is translated back to its original position to achieve the intersection of the two planes where the ideal puncture path is located. At this time, the spatial position of the ideal puncture path is determined, and the precise positioning of the surgical needle insertion direction is completed. The direction of the puncture needle is the direction of the ideal puncture path.

[0028] The specific implementation and use of this positioning device during surgery are as follows: The ideal puncture path will be accurately located by the robotic arm and positioning grid through two C-arm imaging sessions, without requiring the C-arm to be rotated to a specific angle.

[0029] Adjust the C-arm machine and examination bed to a suitable position in the operating room, place this device on one side of the examination bed, ensuring that it will not affect other surgical procedures, and allow the patient to be positioned on the examination bed in any posture.

[0030] The positioning grid isolation layer 10 is placed tightly against the patient's skin. A C-arm imaging device is used to take the first photograph of the approximate area of ​​the lesion at any angle, obtaining a two-dimensional planar image containing the lesion within the first imaging plane. The doctor determines the ideal puncture path on the two-dimensional image on the computer based on the lesion location and the needle insertion point. The path can be drawn on the screen. Using the coordinate system composed of the lead-mercury alloy fine lines 8-2 and the marking symbols 8-3 in the positioning layer 8, the ideal puncture path is mapped to the human body surface. The ideal puncture path is then drawn in the drawing layer 9 and marked on the human body surface.

[0031] Turn on the positioning illumination light at the center of the C-arm detector. If some C-arm detectors do not have a positioning illumination light, a self-adhesive LED light can be attached to the center of the detector and turned on. Move the base 1 and adjust the right-angle rod 2 and the crossbar 3 so that the rotating ring 5 is as close as possible to the human body and within the illumination light range. Rotate the right-angle rod fastening knob 7-1 and the crossbar fastening knob 7-2 to fix them. Rotate the ball hinge 3-2 and the rotating ring 5 so that the projection of the plane where the rotating ring is located completely coincides with the ideal puncture path drawn on the positioning grid. Fix the base 1 and record the angle of the right-angle bar 2 and the length of the crossbar 3 at this time to determine the plane where the first ideal puncture path is located. The puncture needle in the insertion catheter 6 and the three-dimensional ideal puncture path are in the same plane. Erase the ideal puncture path drawn on the drawing layer 9 during the first projection. Rotate the C-arm machine to another arbitrary angle to take a second photograph of the approximate area to be punctured. The doctor once again determines an ideal puncture path on this plane and corresponds it to the positioning grid on the human body surface. At this time, turn on the illumination light on the detector of the C-arm machine again. If the rotating ring 5 does not appear in the range of the illumination light, record the angle of the right-angle bar 2 and the length of the crossbar 3. Keep the rotating ring 5 parallel to the first plane and move the base 1 so that the rotating ring 5 is located in the light field.

[0032] Rotate the rotating ring 5 to make the ball bearing 4-1 slide on the slide rail 5-1, completing the rotation of the rotating ring 5. Stop rotating when the projection of the puncture needle coincides with the ideal puncture path on the positioning grid. Rotate the rotating nut 4-4 on the fixed rod 4-5 to push the fixed block 4-3 to fit tightly against the rotating ring 5, thereby fixing the position of the rotating ring 5.

[0033] At this point, the parallel plane of the second plane containing the ideal puncture path is determined, and the plane where the puncture needle is located is parallel to the three-dimensional ideal puncture path. The angle of the right-angle rod 2 and the length of the horizontal rod are restored to the positions recorded after the first imaging. At this point, the puncture needle is on the intersection line of the two planes containing the ideal puncture path, and its direction is the ideal puncture direction. Through two imaging operations at arbitrary angles using a C-arm machine, the needle insertion direction can be quickly and efficiently located, reducing the radiation dose to patients and medical staff, eliminating the influence of the operator's subjective experience, ensuring precise positioning, reducing surgical risks, and improving surgical efficiency. This method can be widely used in the field of spinal surgery.

[0034] Any aspects of this utility model not described in detail are well-known technologies to those skilled in the art.

[0035] As can be clearly seen from the above, this utility model has a novel and unique structure, is easy to operate and use, and has a high degree of mobility, enabling positioning at any location within space. Its compact design allows for accurate puncture direction determination through only two photographs taken at any angle, significantly reducing the radiation dose received by both patients and doctors. The projection at any angle also reduces spatial limitations on surgical procedures, enabling it to be truly used in the operating room to assist doctors in rapid, convenient, and flexible puncture positioning, thus improving surgical efficiency. It fully considers the impact of the doctor's subjective experience on surgical outcomes, allowing even non-professionals to perform precise positioning operations effectively, reducing the technical difficulty and operational threshold of the surgery, and shortening surgical time. This represents a major innovation in spinal puncture equipment, with significant social and economic benefits.

Claims

1. A novel spinal puncture-assisted positioning device, comprising a robotic arm and a positioning grid, characterized in that, The robotic arm includes a base (1), a right-angle rod (2), a crossbar (3), a rotating frame (4), a rotating ring (5), and a needle guide tube (6). The base (1) is composed of a hollow vertical rod and its lower legs integrally installed with the legs and the picolina casters (1-1) at the lower end of the legs, which allows the positioning device to move along the x-axis or y-axis on the ground and prevents any minor movement that may occur during operation. The right-angle rod (2) is movably installed in the hollow vertical rod of the base (1). The hollow vertical rod is equipped with a first fastening knob (7-1), which constitutes the lifting and rotating structure of the right-angle rod (2). The lower plane of the base (1) constitutes the first reference plane. The right-angle rod (2) is an inverted L-shaped rod / tube. The upper half of the right-angle rod (2) forms the short side of the inverted L-shape, and the lower half forms the long side of the inverted L-shape. 2) The upper half of the right-angle rod (2) forms a 90-degree angle with the lower half of the right-angle rod (2); the upper half of the right-angle rod (2) is parallel to the first reference plane where the base is located; the crossbar (3) is installed at the front end of the short side of the right-angle rod (2), and the second fastening knob (7-2) fixes one end of the crossbar (3) to the short side of the right-angle rod (2) to form a crossbar (3) adjustment and fixing structure. The other end of the crossbar (3) is equipped with a rotating frame (4), and a rotating ring (5) is installed on the rotating frame (4). A needle guide (6) for inserting puncture needles is installed on the rotating ring (5); the positioning grid includes an isolation layer (10), a positioning layer (8) and a drawing layer (9). The drawing layer (9) and the isolation layer (10) are respectively placed on the upper and lower surfaces of the positioning layer (8) to form an integrated planar structure for projecting puncture path transplantation to the human body surface.

2. The novel spinal puncture auxiliary positioning device according to claim 1, characterized in that, The hollow vertical rod of the base (1) is nested with the long side of the right-angle rod (2), which drives the short side of the right-angle rod (2) to rise and fall and rotate around the horizontal plane, thereby driving the overall rise and fall and rotation of the horizontal rod (3), the rotating ring (5) and the needle guide tube (6).

3. The novel spinal puncture auxiliary positioning device according to claim 1, characterized in that, The hollow vertical rod of the base has an angle scale on its upper surface, and the horizontal rod (3) has a length scale.

4. The novel spinal puncture auxiliary positioning device according to claim 1, characterized in that, The end of the crossbar (3) is provided with a base (3-1) and a ball hinge (3-2) integral with the crossbar (3). The ball hinge (3-2) is coaxially connected with the base (3-1). A hollow connecting rod (3-3) is mounted on the ball hinge (3-2), which can provide rotation with any degree of freedom in three dimensions.

5. The novel spinal puncture auxiliary positioning device according to claim 1, characterized in that, The rotating ring (5) includes a pin hole and a slide rail (5-1). The pin hole is located on the wide surface of the rotating ring (5), through which the pin guide tube (6) passes. The slide rail (5-1) is located on the narrow surfaces on both sides of the rotating ring (5) and is connected to the rotating frame (4) to realize the rotation of the rotating ring.

6. The novel spinal puncture auxiliary positioning device according to claim 1, characterized in that, The rotating frame (4) includes a bracket (4-7) and a ball bearing (4-1). The bracket (4-7) is a rectangular structure with one side open. The ball bearing (4-1) is fitted into the groove of the slide rail (5-1). The rotating frame (4) is fixedly installed in the hollow connecting rod (3-3) via a connector (4-6) and connected to the ball hinge (3-2).

7. The novel spinal puncture auxiliary positioning device according to claim 1, characterized in that, The rotating frame (4) further includes a fixed rod (4-5), a fixed block (4-3), a rotating nut (4-4), and a fixed nut (4-2). The fixed rod (4-5) is located at the center of the rotating frame (4) and extends towards the rotating ring (5), and is connected to the connector (4-6) to form an integral structure. The fixed block (4-3) is located on the fixed rod (4-5), and the rotating nut (4-4) is screwed onto the end of the fixed rod (4-5), which can rotate to push the fixed block (4-3) forward and backward, thereby releasing and braking the rotating ring (5).

8. The novel spinal puncture auxiliary positioning device according to claim 1, characterized in that, The described needle catheter is a tubular structure that runs through the side wall of the rotating ring (5). The puncture needle can pass through it and be fixed on the rotating ring (5) to assist the doctor in puncture.

9. The novel spinal puncture auxiliary positioning device according to claim 1, characterized in that, The positioning layer (8) is made of intersecting lead-mercury alloy lines (8-2), and the edge (8-1) is marked with symbols (8-3). The isolation layer (10) is located inside the positioning layer (8) and is close to the human body. The drawing layer (9) is located outside the positioning layer (8) and is used to draw the path.

10. The novel spinal puncture auxiliary positioning device according to claim 1, characterized in that, The positioning layer (8) has a marker (8-3) made of lead-mercury alloy pasted on its edge (8-1). The crisscrossing lead-mercury alloy lines (8-2) are evenly distributed to form a grid structure. Each vertical and horizontal lead-mercury alloy line is aligned and corresponds to a marker (8-3). The crisscrossing lead-mercury alloy lines (8-2) and the marker (8-3) form a two-dimensional coordinate system.

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