61 results about "Lung punctures" patented technology

The invention discloses a lung puncture robot body mechanism with a CT image real-time guiding function. The mechanism comprises a base, a three-dimensional sliding platform, a corner clamping disc, an RCM mechanism, a needle feeding mechanism and a needle clamping mechanism. The three-dimensional sliding platform is installed on a cross beam of the base so as to achieve moving of the platform in the three directions of an XYZ coordinate system, one end of the RCM mechanism is connected with a Y-axis module in the three-dimensional sliding platform through the corner clamping disc, the other end of the RCM mechanism is fixedly connected with the needle feeding mechanism, the angle of the corner clamping disc is adjusted according to postures of different patients, and the RCM mechanism is used for adjusting the needle feeding angle of a puncture needle; the needle clamping mechanism is fixedly connected with the needle feeding mechanism, and the needle clamping mechanism is driven by an external motor to achieve the functions of clamping, releasing and re-clamping the needle. A robot is driven by a screw transmission structure for motor far end driving so that the requirements for using a non-metallic material mechanism under the CT scanning condition can be met.

The invention discloses an optimal lung puncture operation path planning method, and relates to the technical field of computers. The method includes the steps: S1 quantitatively analyzing constrained conditions of clinical lung puncture surgery standards based on preoperative CT (computed tomography) images of patients, and filtering out puncture operation paths without meeting the constrained conditions; S2 quantitatively analyzing objective conditions of the clinical lung puncture surgery standards based on the preoperative CT images of the patients, and building sub-objective functions based on path risks; S3 building an optimal path model based on the constrained conditions and the objective conditions, and calculating solution sets of optimal paths. The invention further discloses a lung puncture operation navigation system for planning preoperative operation paths by the optimal lung puncture operation path planning method. According to the method, operation path solution sets of lung puncture operations are calculated without artificially setting weight parameters between sub-objectives, subjective factor interference is avoided, and optimal operation path guidance is provided for lung puncture operation navigation.

The invention discloses a surgical navigation system for lung puncture. The surgical navigation system comprises a navigation workstation, an aspiration biopsy probe and a navigation waistcoat, wherein the aspiration biopsy probe and the navigation waistcoat are in data connection with the navigation workstation; the navigation workstation is provided with an electric control unit; the electric control unit is internally provided with an operating system and integration software; the integration software comprises a patient data management module, an image data three-dimensional visualization and processing module, a lung region partitioning module, a navigation configuration module, a pre-operation planning module, an operation rectification module, an operation guide module, a mathematical modeling module and a postoperation operative evaluation module. The surgical navigation system is used for performing early detection on suspected tumors in the whole lung region, and has the advantages of greatly improving the surgical precision, reducing the radiation dose, reducing the operation complexity, reducing postoperation complications, shortening the operation time and the like.

The invention discloses a computed tomography (CT) guided lung puncture positioning instrument in the technical field of medicinal instruments, which comprises a fixing mechanism, a chassis mechanism, two motion arm mechanisms and a puncture guide mechanism, wherein the chassis mechanism is fixedly arranged on the fixing mechanism; the two motion arm mechanisms are rotationally connected with thechassis mechanism from top to bottom respectively, and the first motion arm mechanism is mutually vertical to the second motion arm mechanism; and the puncture guide mechanism sequentially passes through the two motion arm mechanisms and the fixing mechanism and is opposite to the circle center of the fixing mechanism. The positioning instrument has small size, simple structure, accurate positioning, three-dimensional spatial free positioning, simple operating method and the like, can be positioned in a three-dimensional space so as to expand the selection of a puncture channel, avoids the influence of operation on the surgery in a two-dimensional space, avoids deviation of the puncture direction due to human hand fluctuation, and can be quickly detached and withdrawn so as not to affect the subsequent complex operation.

The invention provides a CT guided percutaneous lung puncture auxiliary positioning device. The positioning device comprises a base module, an X axis horizontal moving module, a Y axis horizontal moving module, a Z axis vertical lifting module, an alpha axis attitude adjustment module and a beta axis attitude adjustment module connected with each other sequentially. A puncture needle passes through the centers of the alpha axis and the beta axis. When the rotation angles of the alpha axis and the beta axis are adjusted, the coordinates of the axes remain unchanged. By adjusting the X module, the Y module and the Z module, the coordinates of the centers of the alpha axis and the beta axis can be adjusted. The device is convenient for the space auxiliary positioning of the puncture needle in the percutaneous lung puncture operation process, and the lung of a patient can be scanned under the CT by the auxiliary device. The accurate adjustment function greatly improves the accuracy rate and success rate of the puncture operation, and has a broad application prospect for the other similar puncture operation.

The present invention relates to a lung puncture operation positioning method under the guidance of X-ray and preoperative CT, comprising: the first step, establishing the three-dimensional shape model and deformation model of the lung image; the second step, combining the preoperative CT image of the patient with the three-dimensional The shape model is registered, and the registration result is combined with the deformation model to calculate the patient's lung deformation model; the third step is to generate a simulated X-ray image; the fourth step is to register the X-ray image collected during the operation with the simulated X-ray image, Calculate the two-dimensional displacement field of the lung during the operation, and calculate the position coordinate information of the puncture needle; the fifth step, use the two-dimensional displacement field and the lung deformation model to calculate the displacement field information of the three-dimensional image during the operation; the sixth step, use the obtained The three-dimensional displacement field and the preoperative CT image generate a registered three-dimensional image, and calculate the position information of the lesion in the three-dimensional image; the seventh step is to adjust the position of the puncture needle until the puncture positioning is completed. Compared with the prior art, the present invention has the advantages of fastness, accuracy, suitability for practical application and the like.

The invention discloses a six-degree-of-freedom mechanical arm and a lung puncture robot adopting the same, and the six-degree-of-freedom mechanical arm comprises a manipulator tail end device, four linear motion mechanisms and two rotating motion mechanisms, wherein a second rotating motion mechanism is connected with the manipulator tail end device to drive the manipulator tail end device to rotate; a first rotating motion mechanism is connected with a second rotating motion mechanism to drive the manipulator tail end device and the second rotating motion mechanism to integrally rotate; a third linear motion mechanism is connected with the first rotating motion mechanism to drive the manipulator tail end device to move back and forth; a second linear motion mechanism is connected with the third linear motion mechanism to drive mechanism to drive the manipulator tail end device to move left and right; a first linear motion mechanism is connected with the second linear motion mechanismto drive the manipulator tail end device to move up and down, the manipulator tail end device is provided with a fourth linear motion mechanism and a puncture needle. The mechanical arm solves the technical problems that the movement path of the mechanical arm for puncture is not intuitive and the maneuverability is poor.

The invention discloses a puncturing robot. The puncturing robot comprises an image information display device for displaying a tomography scanning device, a six-degree-of-freedommechanical arm and aforce-feedback operating table for controlling the six-degree-of-freedommechanical arm to move, and the control-signal receiving end of the six-degree-of-freedommechanical arm is connected with the control-signal output end of the force-feedback operating table; the six-degree-of-freedommechanical arm comprises a mechanical-arm tail end device, a first linear movement mechanism, a second linear movement mechanism, a third linear movement mechanism, a first rotating moving mechanism and a second rotating moving mechanism, wherein the first linear movement mechanism, the second linear movement mechanism and the third linear movement mechanism can drive the mechanical-arm tail end device to do linear movement, and the first rotating moving mechanism and the second rotating moving mechanism drive the mechanical-arm tail end device to do rotating movement; the force-feedback operating table comprises a force feedbackmechanism and an operating mechanism. By means of the puncturing robot, thetechnical problems that during a lung puncture operation, the radiation dosage is large, and the puncture difficulty of lesser tubercles is high are solved, and therefore the operation efficiency isimproved.

The invention discloses a three-dimensional image reconstruction and positioning analysis system used in a puncture surgery robot CT cabin in the technical field of CT-guided percutaneous lung puncture biopsy. The system includes a CT scanner; the CT scanner is in electrical output connection with a data reading module; a central processor is in electrical input connection with an electromagneticpositioning module and a path planning module; the central processor is in electrical output connection with an image processing module, a control module and a display module; and the control module is in electrical output connection with a puncture robot. According to the system, marking points are no longer placed on the body surface of a patient on hardware, but six marking points are fixed toa CT examination bed at the same time, and an improved D-H reverse motion algorithm is applied to the algorithm, so that a CT image guides the robot to conduct percutaneous lung puncture operation, the puncture precision can be well guaranteed through a positioning mechanism, especially the success rate of one-time puncture can be effectively guaranteed, and the system has high robustness.

The invention discloses a lung biopsy method guided by virtual positioning CT, which is characterized in that: the method includes: (1) image simulation before puncture; (2) simulation-guided puncture; (3) CT verification to complete the puncture. The virtual positioning CT-guided lung biopsy method uses electromagnetic positioning methods combined with CT images to form a virtual image; the position changes of the body surface magnetic electrode positioning marks under different respiratory motion states, and the dynamics of virtual lung lesions moving with respiratory motion The image can guide the lung puncture biopsy needle with the magnetic positioning mark on the tip to accurately complete the lung puncture, and eliminate the influence of breathing movement on the lung puncture positioning. The lung biopsy method under the guidance of virtual positioning CT uses several electromagnetic marks to assist in the positioning of lung lesions and improve the accuracy of puncture. puncture.

The invention discloses a CT (computed tomography) guided puncture needle clamping-releasing device for a lung puncture robot. The clamping-releasing device comprises a far-end motor, a wire transmission mechanism, an execution mechanism and a puncture needle. The wire transmission mechanism is connected between the far-end motor and the execution mechanism, the far-end motor rotates forwards and reversely to enable the wire transmission mechanism to transfer driving force to the execution mechanism, and the execution mechanism realizes clamping of the puncture needle and releasing in a set range by cooperating with a screw nut pair. In a puncture process, the execution mechanism is capable of realizing puncture needle clamping, needle free releasing and needle re-clamping according to the puncture depth and the respiratory rate of a patient, so that puncture surgery precision is improved.

The invention discloses a lung puncture fixing rack. The lung puncture fixing rack comprises a rectangular base and an inverted-C-shaped rack at the upper end of the base, the inverted-C-shaped rack is provided with a first chute, the first chute is provided with a first slide block, the front end of the first slide block is threadingly connected with a first sliding bar, the first sliding bar is provided with a second slide block in a sleeved manner, the bottom of the second slide block is threadingly connected with a second sliding bar, the second sliding bar is provided with a third slide block in a sleeved manner, the left side of the third slide block is threadingly connected with a chuck, the right side of the third slide block is threadingly connected with a handle, two side edges of the rectangular base are respectively hinged to a silicone rubber plate, two sides of the inverted-C-shaped rack are both connected with an indicating lamp, and the upper end of each silicone rubber plate is provided with a push switch electrically connected with the indicating lamp. According to the lung puncture fixing rack, adjusting devices at three directions of up and down, back and forth, and left and right and a device easily penetrating through CT equipment and easily fixed are provided so that the problem of the fixation of a puncture tool in a lung puncture operation is solved, the fixing rack is advantaged by convenient operation and precise positioning, and the working strength of doctors can be greatly reduced.

The invention discloses a highly-efficient lung puncture positioning device used under CT guidance. The highly-efficient lung puncture positioning device comprises a base, a transverse sliding base, asemicircular angle adjusting base and a needle inserting angle adjusting base, wherein a second puncture receding hole corresponding to first puncture receding holes is arranged at the central part of the transverse sliding base; a first sliding column capable of sliding along a first sliding groove is arranged on the transverse sliding base and respectively located at the upper side and the lower side of the second puncture receding hole; and a second sliding groove extending in the longitudinal direction of the transverse sliding base is arranged on the transverse sliding base and respectively located at the left side and the right side of the second puncture receding hole. According to the invention, under the guidance of CT, the highly-efficient lung puncture positioning device can accurately puncture the focus of a patient, can guide a puncture needle to rapidly and accurately puncture, shortens the operation time, decrease the operation risk, reduces complications, reduces the labor intensity of medical staff and facilitates early rehabilitation of the patient.

The application discloses a manipulator end device and a lung puncture robot with the same. The manipulator end device comprises a puncture needle, a linear moving unit driving the puncture needle toprovide puncturing action, a force feedback unit feeding back puncturing force of the puncture needle, and a clamping unit to fix the puncture needle. The force feedback unit is mounted on the linearmoving unit; the force feedback unit may move linearly on the linear moving unit; the puncture needle is releasably fixed to the clamping unit; the clamping unit is connected with the feedback unit. The technical problem is solved that a puncture manipulator has low working efficiency, low accuracy and high operational difficulty.

The invention discloses a color and touch labeling method for a lung micro-nodule before surgery. The labeling method is characterized by including the following steps that a solution of methylene blue, thrombin and calcium chloride and a fibrinogen solution are prepared, two different injectors are connected with a lung puncture needle through a t-branch pipe respectively, and the two solutions are injected to the lesion position of the lung micro-nodule simultaneously through the injectors to form a blue gel nodule in the lesion position. The blue gel nodule is visible and touchable, a surgery doctor can conduct accurate positioning and excision on the lung micro-nodule through the vision and touch; the needed medicines are easy to get and low in price, the effect can last for two days or more after labeling, and thus flexible selection of the surgery opportunity is facilitated.

The invention discloses a CT-guided percutaneous lung puncture guide pre-positioning device. The device comprises flexible positioning pieces and connecting pieces. The flexible positioning pieces form a rectangular fence through the connecting pieces and can be freely bent, and the flexible positioning pieces are attached to the skin of a patient to be subjected to puncture by their gravity. Theflexible positioning pieces can be freely bent in the transverse direction and the longitudinal direction and can be attached to the patient's skin without moving easily, and the accuracy of positioning is guranateed; there is basically no distance between the flexible positioning pieces and the patient's skin surface, after CT scanning imaging, the distance between the flexible positioning piecesand the patient's lung lesion and the puncture angle can be easily observed, there is no large error in actual puncture operation, and thus accurate positioning for puncture is achieved.

The invention discloses a lung puncture biopsy device. The device comprises a syringe, a push rod and a needle body, a first fixing plate and a second fixing plate are arranged in the syringe, and a liquid inlet pipe and a liquid guide pipe are installed on the first fixing plate; one end of the liquid inlet pipe is installed at the exterior of the syringe, the second fixing plate is installed atone side of the first fixing plate, and two fixing sleeves are installed on the second fixing plate; a first movable rod and a second movable rod are installed in the two fixing sleeves respectively,one end of the first movable rod is connected with the end of the liquid inlet pipe by mounting a first rubber plug, and a first compression spring is installed at the outer side of the first movablerod; the two ends of the first compression spring are connected with the first rubber plug and the end faces of the fixing sleeves respectively, and a second rubber plug is installed at the end, awayfrom the fixing sleeves, of the second movable rod. The lung puncture biopsy device is convenient to use, sample backflow in the sampling process is effectively prevented, and meanwhile multi-time sampling can be conducted.

The invention discloses a CT guidance-based lung puncture angle control device and an angle control method thereof. The angle control device comprises a base, an angle ring and an needle inlet guide seat; the angle ring consists of two semi-circular structural plates, the two structural plates are symmetrically disposed on the left and right sides of the base respectively, hinge holes are formed in the circular centers of the structural plates, and the edges of the structural plates are provided with scales; the needle inlet guide seat is of an inverted U-shaped structure, a needle inlet holeis formed in the top of the needle inlet guide seat, and the bottoms of two support legs of the needle inlet guide seat are hinged into the scales, wherein the top of the needle inlet guide seat is rotated to a certain angle in the circumferential direction with the support legs hinged into the hinge holes as the circular centers and then penetrates out of a needle outlet hole in the middle of thebase after a puncture needle penetrates into the needle inlet hole. The angle control device and the method can effectively control the needle inlet angle and control the error within 0.5 cm, so thatthe puncture is carried out successfully at a time, the repeated puncture rate is decreased, and tissue trauma and complications brought by puncture are reduced.

The invention discloses a lung puncture fixing rack. The lung puncture fixing rack comprises a rectangular base and an inverted-C-shaped rack at the upper end of the base, the inverted-C-shaped rack is provided with a first chute, the first chute is provided with a first slide block, the front end of the first slide block is threadingly connected with a first sliding bar, the first sliding bar is provided with a second slide block in a sleeved manner, the bottom of the second slide block is threadingly connected with a second sliding bar, the second sliding bar is provided with a third slide block in a sleeved manner, the left side of the third slide block is threadingly connected with a chuck, the right side of the third slide block is threadingly connected with a handle, two side edges of the rectangular base are respectively hinged to a silicone rubber plate, two sides of the inverted-C-shaped rack are both connected with an indicating lamp, and the upper end of each silicone rubber plate is provided with a push switch electrically connected with the indicating lamp. According to the lung puncture fixing rack, adjusting devices at three directions of up and down, back and forth, and left and right and a device easily penetrating through CT equipment and easily fixed are provided so that the problem of the fixation of a puncture tool in a lung puncture operation is solved, the fixing rack is advantaged by convenient operation and precise positioning, and the working strength of doctors can be greatly reduced.

The invention relates to a mounting bracket for lung puncture, which is used on a CT bed and comprises a mounting bracket body and a puncture needle clamp arranged on the mounting bracket body and used for fixing a puncture needle, wherein the whole mounting bracket body is in an arc shape. The mounting bracket for lung puncture has firm fixation, simple structure and convenient operation.

The invention discloses a simple percutaneous lung puncture and puncture complication treating tool. The tool comprises a positioning needle and a switching mechanism, wherein the positioning needle comprises a needle head and a soft tube, the needle head is connected to one end of the soft tube, the soft tube is sleeved by a coaxial puncture needle sleeve, and a biopsy needle insertion hole, a medicament feeding hole capable of being communicated with the soft tube, and an air flow guide tube are arranged on the switching mechanism. The tool has the various functions including anesthetization, puncture sampling, complication treatment and the like, the functions can be flexibly switched according to the demands, the complications occurring after puncture can be conveniently coped with in time, with the adoption of the tool provided by the invention, the percutaneous lung puncture and complication treating operation efficiencies can be improved, and the additional injury caused to patients during the percutaneous lung puncture and the complication treating operation can be alleviated.

The invention belongs to the technical field of medical supplies, and particularly relates to a puncture auxiliary device for cardiovascular examination. The puncture auxiliary device for cardiovascular examination comprises a supporting frame, an adjustment sliding block, a connector and a guiding block; the supporting frame is sleeved with the adjustment sliding block, and a plurality of suctioncups are arranged at the bottom of the supporting frame; the adjustment sliding block is provided with the connector and fastened to the supporting frame through a second fastening bolt, the connector is provided with the guiding block, the guiding block is arranged on the connector through a connecting rotation shaft, the connecting rotation shaft penetrates through the connector, one end of theconnecting rotation shaft is connected with the guiding block, the other end of the connecting rotation shaft is connected with an adjusting handle, and the adjusting handle is provided with a firstangle pointer. The puncture auxiliary device for cardiovascular examination has the advantages that the device is convenient to use, positioning is accurate during lung puncture for a patient, the puncture success rate is high, convenience is provided for needle insertion, the operation is simple and convenient, the time and labor are saved, and the work difficulty of medical staff is reduced.

The invention provides a lung puncture surgical robot which comprises a stand column, a lead screw and a sliding block are arranged in the z-axis direction, the y-axis direction and the x-axis direction respectively for multi-dimensional adjustment, a mechanical arm is further arranged at the tail end of the multi-adjustment lead screw, the end of the mechanical arm is fixedly connected with one end of a puncture needle, the puncture needle extends in the z-axis direction, a supporting plate is further arranged on a supporting frame, and the supporting plate is fixedly connected with the supporting frame. A through hole is formed in the supporting plate, and the needle tip of the puncture needle penetrates through the through hole and extends towards the z axis. The lung puncture surgical robot is high in puncture precision and automation degree.

The invention relates to a multifunctional bed, in particular to a multifunctional bed for lung puncture. The multifunctional bed for lung puncture adapts to the optimal state of a patient and a doctor and protects the patient during an operation. A multifunctional bed for lung puncture comprises a supporting seat, placing seats are arranged on the left side and the right side of the top of the supporting seat, a bed board is connected between the tops of the placing seats, and a headrest is slidably arranged on the right side of the top of the bed board; the universal wheels are symmetrically arranged on the left side and the right side of the bottom of the supporting seat front and back; the guide groove plate is arranged on the right side of the bottom of the bed plate. The position of the pillow is adjusted to guarantee the comfort degree of a patient, meanwhile, the position of the first containing cylinder is adjusted to adapt to the operation habit of a doctor, and the early-stage preparation of an operation is correct.

The invention discloses a four-degree-of-freedom fixing support for a lung puncture operation in a hospital. The fixing support comprises a circular supporting base, a rotatable linear guide rail anda puncture needle set, the circular supporting base is mainly composed of an outer ring gear and a circular sliding rail, the rotatable linear guide rail is supported by an arc-shaped sliding block, the puncture needle set is in sliding connection with the rotatable guide rail through a stud and a polish rod, the whole rotatable linear guide rail drives the gear through the motor to rotate aroundthe center of an arc-shaped support seat, two screw rods in the rotatable linear guide rail are driven by the motor to rotate around a straight line parallel to the axis of the guide rail, and the needle puncture set moves in the axial direction of the rotatable guide rail and swings in the plane perpendicular to the axial direction of the guide rail. The fixing support is compact in structure andeasy to control, horizontal movement of a control target and rotation of two rotating shafts are achieved through combined transmission of the gear, a rack and the screws, and the motor is not directly connected with the control target.

The invention belongs to the field of clinical medicine manufacturing, and particularly provides a navigation display system for lung surgery puncture, which comprises a path planning module, an optical positioning module and a navigation display module, initializing a marking photosphere coordinate and a puncture path under the same physical coordinate system through a path planning module; then, an optical positioning module is used for combining the recognizable and displayable marking light ball with the steel needle to form a puncture navigation steel needle; and finally, uniformly representing the three-dimensional model of the puncture navigation steel needle and the three-dimensional model of the lung structure by an optical coordinate system through a navigation display module, and displaying the relationship between the puncture navigation steel needle and the lung structure in real time through an optical locator. The system is applied to a lung puncture positioning navigation operation, the optical coordinate of the puncture navigation steel needle is obtained through the optical tracking device, the optical coordinate and the physical coordinate are mutually converted, real-time display of the puncture navigation steel needle in the navigation system is achieved, the puncture success rate is increased, and the operation time of a patient is shortened.

The invention discloses a computed tomography (CT) guided lung puncture positioning instrument in the technical field of medicinal instruments, which comprises a fixing mechanism, a chassis mechanism, two motion arm mechanisms and a puncture guide mechanism, wherein the chassis mechanism is fixedly arranged on the fixing mechanism; the two motion arm mechanisms are rotationally connected with thechassis mechanism from top to bottom respectively, and the first motion arm mechanism is mutually vertical to the second motion arm mechanism; and the puncture guide mechanism sequentially passes through the two motion arm mechanisms and the fixing mechanism and is opposite to the circle center of the fixing mechanism. The positioning instrument has small size, simple structure, accurate positioning, three-dimensional spatial free positioning, simple operating method and the like, can be positioned in a three-dimensional space so as to expand the selection of a puncture channel, avoids the influence of operation on the surgery in a two-dimensional space, avoids deviation of the puncture direction due to human hand fluctuation, and can be quickly detached and withdrawn so as not to affect the subsequent complex operation.

The invention discloses a percutaneous lung puncture model and a manufacturing method thereof. The model comprises a lung tissue model, a skeleton model and a skin tissue model. The lung tissue modelis wrapped in a skeleton, the skin tissue model covers the skeleton model, pathological modules are distributed in the lung tissue model, the pathological modules are tightly combined with lung tissues, an obvious interface is formed between the pathological modules and the lung tissue model, and the pathological modules and the lung tissue model present different colors. The percutaneous lung puncture model provided by the invention can simulate the structural characteristics of human body lung tissues and internal pathological tissues, sizes and spatial positions of pathological tissues aresimulated, lung tissues and internal pathological tissues can present an image comparison difference characteristic similar to human body real normal tissues and pathological tissue structures under imaging equipment, the model is used for simulating a puncture operation guided by imaging equipment in a real operation, so that the operation effect of a trainee in the operation is evaluated or theoperation process of a puncture needle and other medical instruments in the operation is visually displayed.