61 results about "Lung punctures" patented technology

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 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 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 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.