CN112386313A

CN112386313A - Positioning auxiliary device for percutaneous renal biopsy

Info

Publication number: CN112386313A
Application number: CN201910764632.8A
Authority: CN
Inventors: 冯婕; 孔冉冉; 解立怡; 余晓洋; 刘超; 董红娟
Original assignee: First Affiliated Hospital of Xian Jiaotong University
Current assignee: First Affiliated Hospital of Xian Jiaotong University
Priority date: 2019-08-19
Filing date: 2019-08-19
Publication date: 2021-02-23

Abstract

The invention discloses an auxiliary device for percutaneous renal puncture biopsy, comprising a fixed seat, a clamping plate, a console, an A stepping motor, a driving gear, a rack plate, a connecting beam, a B stepping motor, an I rotating shaft, Rotary frame, C stepper motor, lead screw, adjusting block, D stepper motor, II rotating shaft, connecting plate, needle cover, fixing frame, palm-top ultrasonic probe, first of all, through the new three-dimensional distance control system, it can not only realize multi-position . The multi-angle adjustment and control of the needle holder is convenient for the puncture needle to reach the best puncture point. Secondly, with the built-in follow-up ultrasonic probe design, it can reduce the exposure of the operator during the puncture process, and can also accurately measure the puncture needle in real time. It can be sent into the designated area to improve the accuracy of puncture and reduce the number of punctures. Finally, through the above, the operation of puncture biopsy is convenient, and the occurrence of complications is also reduced, which achieves good protection for patients, and has high clinical promotion value. .

Description

Positioning auxiliary device for percutaneous renal biopsy

Technical Field

The invention relates to the technical field of renal biopsy positioning, in particular to a positioning auxiliary device for percutaneous renal biopsy.

Background

Percutaneous renal biopsy is a renal puncture needle which is guided by ultrasound to pass through the back skin, and a puncture point is selected to puncture the kidney to obtain the material, so that the percutaneous renal biopsy is a renal biopsy method which is popularized at home and abroad at present, and has important significance for diagnosing primary diseases, secondary diseases or hereditary renal diseases. Renal biopsy is a invasive test with a number of complications that can occur: hematuria, perirenal hematoma, occurs at 48-85%. The body position matching effect of the patient in the renal puncture operation plays a key role in improving the success rate of puncture and reducing postoperative complications.

According to the above, although the puncture under clinical ultrasound guidance has a good positioning effect, due to the lack of a special puncture auxiliary device in the existing clinic, the needle insertion and the puncture are generally performed by medical staff according to experience, so that a large error is easily caused, multiple adjustments are often needed, time is finally wasted, injuries are increased, and great hidden dangers are brought to clinical operation.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: provides a positioning auxiliary device for percutaneous renal biopsy, which solves the problems in the prior art.

In order to solve the technical problems, the technical scheme of the invention is as follows: a positioning auxiliary device for percutaneous renal biopsy comprises a fixed seat, a clamping plate, a control console, an A stepping motor, a driving gear, a rack plate, a connecting beam, a B stepping motor, an I rotating shaft, a rotating frame, a C stepping motor, a screw rod, an adjusting block, a D stepping motor, an II rotating shaft, a connecting plate, a needle sleeve, a fixed frame and a handheld ultrasonic probe, wherein the clamping plate is fixedly arranged at the bottom of the fixed seat, the clamping plate and the fixed seat are integrally formed, the control console is fixedly arranged at the front end of the fixed seat, the control console and the fixed seat are connected through bolts, the A stepping motor is fixedly arranged on the upper side of the front end of the fixed seat, the A stepping motor is connected with the fixed seat through bolts, the driving gear is fixedly arranged at the rear end of the A stepping motor, the driving gear is connected with the A stepping motor in a tight fit manner, the rack plate slide in the inside upper end of fixing base, rack plate and fixing base about sliding connection, just rack plate and driving gear teeth of a cogwheel meshing be connected, the connecting beam set firmly in rack plate top rear end, connecting beam and rack plate integrated into one piece, B step motor set firmly in connecting beam top rear end, B step motor and connecting beam adopt bolted connection, I axis of rotation set firmly in B step motor bottom, I axis of rotation and B step motor adopt the shaft coupling to link to each other, the swivel mount run through in I axis of rotation outer wall, the swivel mount be connected with I axis of rotation, C step motor set firmly in the swivel mount right side, C step motor and swivel mount adopt bolted connection, the lead screw set firmly in C step motor left side, the lead screw be connected with C step motor tight fit, the screw rod is rotationally connected with the rotating frame, the adjusting block is sleeved on the outer wall of the screw rod, the adjusting block is connected with the screw rod through internal and external threads, the top of the adjusting block is attached to the bottom of the rotating frame, the D stepping motor is fixedly arranged at the front end of the adjusting block, the D stepping motor is connected with the adjusting block through a bolt, the II rotating shaft is fixedly arranged at the rear end of the D stepping motor, the II rotating shaft is tightly connected with the D stepping motor, the II rotating shaft is rotationally connected with the adjusting block, the connecting plate penetrates through the lower end of the outer wall of the II rotating shaft, the connecting plate is connected with the II rotating shaft through welding, the needle sleeve is fixedly arranged at the bottom of the connecting plate, the needle sleeve and the connecting plate are integrally formed, the fixing frame is fixedly arranged at the bottom of the needle sleeve, the fixing frame and the needle sleeve are integrally formed, the palm ultrasonic probe, the palm ultrasonic probe is connected with the fixed frame in a left-right sliding manner.

Furthermore, the cross section of the clamping plate is U-shaped, an A fastening bolt penetrates through the bottom end inside the clamping plate, and the A fastening bolt is connected with the clamping plate through internal and external threads.

Further, the control cabinet by the display, control keyboard, plc programmable controller, step motor driver and battery and constitute, control cabinet front end upside still set firmly the display, display and control cabinet adopt bolted connection, just display and palm ultrasonic probe adopt the signal line to be connected, control cabinet front end medial side still set firmly control keyboard, control keyboard and control cabinet adopt bolted connection, the inside lower extreme left side of control cabinet still set firmly plc programmable controller, plc programmable controller and control cabinet adopt the buckle to be connected, and control keyboard and plc programmable controller adopt the signal line to be connected, control cabinet lower extreme right side still set firmly step motor driver, step motor driver and control cabinet adopt bolted connection, and step motor driver respectively with plc programmable controller and A step motor, Step motor B, step motor C and step motor D adopt the signal line to connect, control cabinet lower extreme right side still set firmly the battery, battery and control cabinet adopt bolted connection, just the battery adopt the electric lead to connect with display, control keyboard, plc programmable controller, step motor driver, step motor A, step motor B, step motor C and step motor D respectively.

Further, the bottom of the left side of the rotating frame is fixedly provided with a camera, the camera is connected with the rotating frame through a bolt, the camera is connected with the display through a signal line, and the camera is connected with the storage battery through an electric lead.

Furthermore, a B fastening bolt penetrates through the left side of the top end in the needle sleeve, and the B fastening bolt is connected with the needle sleeve through internal and external threads.

Further, the inside bottom of mount still run through and have C fastening bolt, just C fastening bolt and mount adopt interior external screw thread to be connected.

Compared with the prior art, this percutaneous kidney puncture biopsy art location auxiliary device, at first through neotype three-dimensional distance regulation and control system, not only can realize multiposition, the regulation and control of multi-angle to needle holder, the pjncture needle of being convenient for reaches the best point of puncture, secondly, cooperate built-in following formula ultrasonic probe design, can reduce the exposure of art person at the puncture in-process, and also can be real-time accurately send the pjncture needle into the appointed region, improve the accuracy of puncture, reduce the number of times of puncture, finally pass through the aforesaid, the operation of puncture biopsy has been made things convenient for, the production of complication has also been reduced, reach the fine protection to the patient, very high clinical spreading value has.

Drawings

FIG. 1 is a front view of a percutaneous nephrolithotomy positioning aid;

fig. 2 is a perspective view of a percutaneous nephrolithotomy positioning assistance device 1:

fig. 3 is a perspective view of a percutaneous nephrolithotomy positioning aid 2:

FIG. 4 is an enlarged sectional view of the stepping motor part A;

FIG. 5 is a cross-sectional enlarged view of the stepping motor B;

FIG. 6 is an enlarged sectional view of the stepping motor C;

FIG. 7 is a perspective enlarged view of a console portion;

FIG. 8 is a perspective enlarged view of the fixing frame;

fig. 9 is a schematic diagram of the stepper motor driver and the main control circuitry of the stepper motor.

The device comprises a fixed seat 1, a clamping plate 2, a control console 3, an A stepping motor 4, a driving gear 5, a rack plate 6, a connecting beam 7, a B stepping motor 8, an I rotating shaft 9, a rotating frame 10, a C stepping motor 11, a screw rod 12, an adjusting block 13, a D stepping motor 14, an II rotating shaft 15, a connecting plate 16, a needle sleeve 17, a fixed frame 18, a handheld ultrasonic probe 19, an A fastening bolt 201, a display 301, a control keyboard 302, a plc programmable controller 303, a stepping motor driver 304, a storage battery 305, a camera 111, a B fastening bolt 171 and a C fastening bolt 181.

The following detailed description will be further described in conjunction with the above-identified drawings.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the concepts underlying the described embodiments, however, it will be apparent to one skilled in the art that the described embodiments may be practiced without some or all of these specific details, and in other cases well-known process steps have not been described in detail.

As shown in fig. 1, 2, 3, 4, 5, 6, 7, 8 and 9, the ultrasonic probe comprises a fixed seat 1, a clamping plate 2, a console 3, an a stepping motor 4, a driving gear 5, a rack plate 6, a connecting beam 7, a B stepping motor 8, an I rotating shaft 9, a rotating frame 10, a C stepping motor 11, a lead screw 12, an adjusting block 13, a D stepping motor 14, an II rotating shaft 15, a connecting plate 16, a needle sleeve 17, a fixed frame 18 and a palm ultrasonic probe 19, wherein the clamping plate 2 is fixedly arranged at the bottom of the fixed seat 1, the clamping plate 2 and the fixed seat 1 are integrally formed, the console 3 is fixedly arranged at the front end of the fixed seat 1, the console 3 and the fixed seat 1 are connected by bolts, the a stepping motor 4 is fixedly arranged on the upper side of the front end of the fixed seat 1, the a stepping motor 4 and the fixed seat 1 are connected by bolts, the driving gear 5 is fixedly arranged at the rear end of the a stepping, the driving gear 5 and the stepping motor A4 are connected in a tight fit mode, the driving gear 5 is connected with the fixing seat 1 in a rotating mode, the rack plate 6 slides at the upper end inside the fixing seat 1, the rack plate 6 is connected with the fixing seat 1 in a vertical sliding mode, the rack plate 6 is connected with the gear teeth of the driving gear 5 in a meshed mode, the connecting beam 7 is fixedly arranged at the rear end of the top of the rack plate 6, the connecting beam 7 and the rack plate 6 are integrally formed, the stepping motor B8 is fixedly arranged at the rear end of the top of the connecting beam 7, the stepping motor B8 is connected with the connecting beam 7 through bolts, the rotating shaft I9 is fixedly arranged at the bottom of the stepping motor B8, the rotating shaft I9 is connected with the stepping motor B through a coupler, the rotating frame 10 penetrates through the outer wall of the rotating shaft I9, and the rotating frame 10 is connected with the rotating shaft I9 in, c step motor 11 set firmly in the swivel mount 10 right side, C step motor 11 and swivel mount 10 adopt bolted connection, lead screw 12 set firmly in C step motor 11 left side, lead screw 12 be connected with C step motor 11 tight fit, just lead screw 12 rotate with swivel mount 10 and be connected, regulating block 13 cover locate lead screw 12 outer wall, regulating block 13 and lead screw 12 adopt interior thread connection, just regulating block 13 top and swivel mount 10 bottom laminating, D step motor 14 set firmly in the regulating block 13 front end, D step motor 14 and regulating block 13 adopt bolted connection, II axis of rotation 15 set firmly in D step motor 14 rear end, II axis of rotation 15 and D step motor 14 tight fit connection, just II axis of rotation 15 rotate with regulating block 13 and be connected, connecting plate 16 run through in II axis of rotation 15 outer wall lower extreme, the connecting plate 16 is connected with the II rotating shaft 15 in a welding mode, the needle sleeve 17 is fixedly arranged at the bottom of the connecting plate 16, the needle sleeve 17 and the connecting plate 16 are integrally formed, the fixing frame 18 is fixedly arranged at the bottom of the needle sleeve 17, the fixing frame 18 and the needle sleeve 17 are integrally formed, the palm ultrasonic probe 19 is positioned in the fixing frame 18, and the palm ultrasonic probe 19 and the fixing frame 18 are connected in a left-right sliding mode;

it should be noted that the medical care personnel operates the console 3, namely, the rotation of the stepping motor 4A is realized, because the pinion gear 5 is meshed with the rack plate 6, when the stepping motor 4A rotates clockwise, the pinion gear 5 can drive the rack plate 6 to move from bottom to top along the inside of the fixed seat 1, otherwise, when the stepping motor 4A rotates counterclockwise, the pinion gear 5 can drive the rack plate 6 to move from top to bottom along the inside of the fixed seat 1, and at the moment, the adjustment of the height position can be realized by the above, when the medical care personnel operates the console 3 to realize the rotation of the stepping motor 8B, the I rotating shaft 9 can drive the rotating frame 10 to rotate 360 degrees in the horizontal direction, and synchronously, the medical care personnel operates the console 3 again to realize the C stepping motor 11 to drive the screw rod 12 to rotate, because the top of the adjusting block 13 is jointed with the bottom of the rotating frame 10, therefore, the left and right movement can be carried out under the rotation action of the screw rod 12, and the X, Y position movement of the subsequent puncture needle in the horizontal direction can be facilitated through the above, when the puncture angle needs to be adjusted after the puncture needle reaches the corresponding puncture point through regulation and control, the control console 3 is operated again to realize the starting of the D stepping motor 14, namely, the II rotating shaft 15 drives the connecting plate 16 to be linked with the needle sleeve 17 and the fixed frame 18 to rotate at an inclined angle, so that the accurate positioning of the puncture angle is facilitated, because the palm ultrasonic probe 19 is positioned in the fixed frame 18, the palm ultrasonic probe can synchronously move along with the upper puncture needle, therefore, the ultrasonic scanning of the patient is facilitated, and the purpose of ultrasonic guidance is finally achieved, wherein the model of all the stepping motors is a Rasai two-phase stepping motor 42HS08, and the model of the handheld ultrasonic probe 19 is a Sonosong XProbe series;

the section of the clamping plate 2 is U-shaped, an A fastening bolt 201 penetrates through the bottom end inside the clamping plate 2, and the A fastening bolt 201 is connected with the clamping plate 2 through internal and external threads;

the clamping plate 2 can be inserted into the existing operating table, and the fastening bolt 201A is screwed down by rotation, so that the device can be firmly connected with the operating table;

the console 3 comprises a display 301, a control keyboard 302, a plc programmable controller 303, a stepping motor driver 304 and a storage battery 305, the display 301 is fixedly arranged on the upper side of the front end of the console 3, the display 301 is connected with the console 3 through bolts, the display 301 is connected with the handheld ultrasonic probe 19 through signal lines, the control keyboard 302 is fixedly arranged on the middle side of the front end of the console 3, the control keyboard 302 is connected with the console 3 through bolts, the plc programmable controller 303 is fixedly arranged on the left side of the lower end inside the console 3, the plc programmable controller 303 is connected with the console 3 through a buckle, the control keyboard 302 is connected with the plc programmable controller 303 through signal lines, the stepping motor driver 304 is fixedly arranged on the right side of the lower end of the console 3, and the stepping motor driver 304 is connected with the console 3 through bolts, the stepping motor driver 304 is respectively connected with the plc programmable controller 303, the stepping motor 4A, the stepping motor 8B, the stepping motor 11C and the stepping motor 14D through signal lines, the right side of the lower end of the console 3 is also fixedly provided with a storage battery 305, the storage battery 305 is connected with the console 3 through bolts, and the storage battery 305 is respectively connected with the display 301, the control keyboard 302, the plc programmable controller 303, the stepping motor driver 304, the stepping motor 4A, the stepping motor 8B, the stepping motor 11C and the stepping motor 14D through electric leads;

it should be noted that the control keyboard 302 can send an instruction to the stepping motor driver 304 through the plc programmable controller 303, that is, after the stepping motor driver 304 obtains a corresponding instruction, an internal chip sends a pulse signal to correspondingly control the stepping motor a 4, the stepping motor B8, the stepping motor C11 or the stepping motor D14, where the specific plc programmable controller 303 is mitsubishi FX1S-14MT and the stepping motor driver 304 is ATMF-10A/8X;

the bottom of the left side of the rotating frame 10 is fixedly provided with a camera 111, the camera 111 is connected with the rotating frame 10 through a bolt, the camera 111 is connected with the display 301 through a signal wire, and the camera 111 is connected with the storage battery 305 through an electric lead;

it should be noted that the camera 111 can record the operation below in real time, so that the medical staff can observe the operation from the display conveniently, and the remote operation control is facilitated, and the specific model of the camera 111 is TSAFE-JK 698S;

a B fastening bolt 171 also penetrates through the left side of the top end in the needle sleeve 17, and the B fastening bolt 171 is connected with the needle sleeve 17 through internal and external threads;

it should be noted that the puncture needle can be inserted into the needle sheath 17, and the puncture needle can be clamped by tightening the fastening bolt 171B, which facilitates the subsequent puncture operation;

a C-shaped fastening bolt 181 penetrates through the bottom end inside the fixed frame 18, and the C-shaped fastening bolt 181 is connected with the fixed frame 18 through internal and external threads;

it should be noted that the applause ultrasonic probe 19 can be inserted into the fixing frame 18, and then the C-fastening bolt 181 is tightened, so that the applause ultrasonic probe 19 is clamped, and the ultrasonic probe is convenient to mount and dismount.

Claims

1. a percutaneous renal biopsy positioning aid is characterized in that comprising a holder, a clamping plate, a console, A stepping motor, driving gear, rack plate, connecting beam, B stepping motor, I rotating shaft , rotating frame, C stepping motor, screw, adjusting block, D stepping motor, II rotating shaft, connecting plate, needle cover, fixing frame, palm ultrasonic probe, the card plate is fixed at the bottom of the fixing seat, so The console is fixed on the front end of the fixed seat, the A stepping motor is fixed on the upper side of the front end of the fixed seat, the driving gear is fixed on the rear end of the A stepping motor, and the driving gear and the fixed The seat is connected in rotation, the rack plate slides on the inner upper end of the fixed seat, and the rack plate is meshed with the gear teeth of the driving gear, and the connecting beam is fixed at the top rear end of the rack plate. The B stepping motor is fixed at the top and rear end of the connecting beam, the I rotating shaft is fixed at the bottom of the B stepping motor, the rotating frame runs through the outer wall of the I rotating shaft, and the C stepping motor is fixed at the bottom of the B stepping motor. On the right side of the rotating frame, the screw rod is fixed on the left side of the C stepping motor, and the screw rod is rotatably connected with the rotating frame, the adjusting block is sleeved on the outer wall of the screw rod, and the D stepping motor The motor is fixed at the front end of the adjusting block, the II rotating shaft is fixed at the rear end of the D stepping motor, and the II rotating shaft is rotatably connected with the adjusting block, and the connecting plate runs through the lower end of the outer wall of the II rotating shaft, The needle cover is fixed at the bottom of the connecting plate, the fixing frame is fixed at the bottom of the needle cover, and the palm-top ultrasonic probe is located inside the fixing frame.

2 . The percutaneous renal biopsy positioning aid according to claim 1 , wherein the cross-section of the clamping plate is U-shaped, and the inner bottom end of the clamping plate is further penetrated with A fastening bolts. 3 .

3. A percutaneous renal biopsy positioning aid as claimed in claim 1, wherein the console is composed of a display, a control keyboard, a plc programmable controller, a stepping motor driver and a battery, and the A display is also fixed on the upper side of the front end of the console, and the display is connected with the palm ultrasonic probe by a signal line, a control keyboard is also fixed on the middle side of the front end of the console, and the left side of the lower end of the console is fixed. A plc programmable controller is also fixed on the side, and the control keyboard and the plc programmable controller are connected by signal lines, and a stepper motor driver is also fixed on the right side of the lower end of the console, and the step The input motor driver is connected with the plc programmable controller and the A stepper motor, the B stepper motor, the C stepper motor and the D stepper motor respectively by signal lines, and a battery is also fixed on the right side of the lower end of the console, and The battery is connected with the display, the control keyboard, the plc programmable controller, the stepping motor driver, the A stepping motor, the B stepping motor, the C stepping motor and the D stepping motor respectively by electrical wires.

4. a kind of percutaneous renal biopsy positioning aid device as claimed in claim 1 is characterized in that the bottom of the left side of the described rotating frame is also fixed with a camera, and the camera and the display are connected by a signal line, and The camera and the battery are connected by electric wires.

5 . The positioning aid for percutaneous renal biopsy according to claim 1 , wherein a B fastening bolt is further penetrated on the left side of the inner top of the needle cover. 6 .

6 . The positioning aid for percutaneous renal biopsy according to claim 1 , wherein a C fastening bolt is further penetrated at the inner bottom end of the fixing frame. 7 .