CN112494141B - Image-guided interventional surgery navigation treatment equipment - Google Patents

Abstract

The invention discloses image-guided interventional operation navigation treatment equipment, which comprises a CT host, a CT scanning bed, ultrasonic equipment, a navigation display and a head fixing mechanism, wherein the CT host is used for acquiring CT images; the CT scanning bed is arranged close to the CT host; the ultrasonic equipment is arranged at one side of the CT scanning bed and used for collecting ultrasonic images, and comprises an ultrasonic host, an ultrasonic probe and an electromagnetic sensor, wherein the ultrasonic probe is connected to the ultrasonic host, and the electromagnetic sensor is arranged on the ultrasonic probe; the navigation display is arranged at one side of the CT scanning bed and used for displaying a fused image fused by the CT image and/or the ultrasonic image; the head positioning mechanism is arranged at one end of the CT scanning bed close to the CT host computer and used for fixing the head of a patient. According to the image guided interventional operation navigation treatment equipment provided by the embodiment of the invention, CT image navigation, ultrasonic navigation or the combination of the CT image navigation and the ultrasonic navigation can be selected and utilized according to the needs, so that different needs are met, and the pertinence and the adaptability are better.

Description

Image-guided interventional surgery navigation treatment equipment

Technical Field

The present invention relates to interventional surgery treatment equipment, and in particular to an image-guided interventional surgery navigation treatment equipment.

Background Art

Image-guided minimally invasive interventional diagnosis and treatment is an interdisciplinary subject that integrates imaging diagnosis and clinical treatment. It refers to the minimally invasive diagnosis or treatment through percutaneous puncture using various puncture needles, catheters and other interventional equipment under the guidance and monitoring of imaging technology (including ultrasound, X-ray, CT, MRI, etc.). Its greatest advantage is that it can directly puncture the lesion for precise operation under the guidance of imaging. Compared with traditional surgical operations, image-guided operations are less traumatic, have a definite effect, are low-cost and have fewer complications.

In related technologies, image-guided therapy usually uses a single image guidance, such as ultrasound guidance. In clinical practice, a single image guidance is not applicable to all diseases. Different image guidance can be used for different diseases. In addition, these single image guidance devices are inconvenient to use and have poor adaptability.

Summary of the invention

The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the purpose of the present invention is to provide an image-guided interventional surgery navigation treatment device.

To achieve the above-mentioned purpose, an image-guided interventional surgery navigation treatment device according to an embodiment of the present invention includes:

CT host, used to acquire CT images;

A CT scanning bed, wherein the CT scanning bed is arranged adjacent to the CT host;

An ultrasound device, which is arranged on one side of the CT scanning bed and is used to collect ultrasound images. The ultrasound device comprises an ultrasound host, an ultrasound probe and an electromagnetic sensor. The ultrasound probe is connected to the ultrasound host, and the electromagnetic sensor is arranged on the ultrasound probe;

A navigation display, the navigation display being arranged on the one side of the CT scanning bed and being used for displaying a fused image obtained by fusing the CT image and/or the ultrasound image;

A head positioning mechanism is arranged at one end of the CT scanning bed adjacent to the CT mainframe and is used to fix the patient's head.

The image-guided interventional surgical navigation treatment device provided by the embodiment of the present invention has a CT scanning device and an ultrasound device, and the navigation display displays a fused image after the CT image and/or the ultrasound image are fused. In this way, CT image navigation, ultrasound navigation, or a combination of the two can be selected as needed to meet different needs, with better targeting and adaptability. In addition, it also has a head positioning mechanism, which can be used to position the head during head treatment to ensure more accurate positioning of the interventional treatment.

In addition, the image-guided interventional surgery navigation treatment device according to the above embodiment of the present invention may also have the following additional technical features:

According to one embodiment of the present invention, an adjustable bracket is provided on one side of the CT scanning bed, and the navigation display is provided on the adjustable bracket, so that the height and angle of the navigation display can be adjusted through the adjustable bracket.

According to one embodiment of the present invention, the adjustable bracket comprises:

Support rods;

A sliding seat, the sliding seat is inserted into the support rod and can slide vertically, and the sliding seat has a threaded sleeve end;

A locking sleeve, which is sleeved on the support rod and connected to the threaded sleeve end, so that the threaded sleeve end can hold or loosen the support rod;

Two multi-joint support arms, one end of each of the multi-joint support arms is pivotally connected to the sliding seat around a vertical axis, and each of the multi-joint support arms includes at least one horizontal rotation joint and one vertical rotation joint; the other end of one of the two multi-joint support arms is suitable for installing the navigation display, and the other end of the other of the two multi-joint support arms is suitable for installing the ultrasound probe.

According to one embodiment of the present invention, it further comprises a multi-axis robotic arm, which is arranged on one side of the CT scanning bed and is suitable for installing treatment equipment.

According to one embodiment of the present invention, the CT scanning bed comprises a bed base and a movable bed body, wherein the movable bed body is arranged on the bed base and can move in and out of the CT mainframe;

The head fixing mechanism includes two clamping mechanisms, which are arranged at one end of the bed base adjacent to the CT mainframe and are respectively located on both sides of the bed base in the width direction, and each of the clamping mechanisms is slidable along the width direction of the bed base.

According to an embodiment of the present invention, a wing plate is formed on both sides of the bed base adjacent to one end of the CT mainframe;

The clamping mechanism comprises:

a sliding plate, the sliding plate being slidably arranged on the wing plate along the width direction of the bed base;

a first sliding assembly, the first sliding assembly being slidably disposed on the sliding plate along the length direction of the bed base;

A pivot arm, one end of which is pivotally connected to the first sliding assembly via a pivot seat, and the other end of which is located above the movable bed;

A clamping assembly, the clamping assembly being arranged at the other end of the pivot arm and being suitable for clamping and fixing the patient's head;

The pivot arm is configured to be pivotable about a horizontal axis and selectively stay at different angular positions so that the height position of the clamping assembly adjacent to the head placement area is adjustable, and the horizontal axis extends along the width direction of the bed base.

According to one embodiment of the present invention, the pivot seat comprises:

A fixed seat, the fixed seat is installed on the first sliding assembly, the fixed seat has a pivot hole and a plurality of first teeth arranged around the pivot hole, and a first tooth groove is formed between two adjacent first teeth;

An unlocking member, the unlocking member being arranged on one side of the fixing seat;

A rotating body, the rotating body is arranged on the other side of the fixed seat, and the rotating body has a pivot shaft and a plurality of second teeth arranged around the pivot shaft, the pivot shaft passes through the pivot hole and is connected to the unlocking member, the second teeth cooperate with the first tooth groove to limit the rotation of the rotating body relative to the fixed seat; the one end of the pivot arm is connected to the rotating body and is relatively fixed in the circumferential direction;

an elastic member, the elastic member being arranged between the fixing seat and the unlocking member to provide an elastic force to force the rotating body to move toward the fixing seat and keep the second tooth portion in the first tooth groove;

When the unlocking member is operated to apply a force in the reverse direction of the elastic force, the unlocking member pushes the rotating body away from the fixing seat through the pivot shaft, so that after the second tooth portion is disengaged from the first tooth groove, the rotating body can rotate relative to the fixing seat.

According to one embodiment of the present invention, the clamping assembly comprises:

A threaded sleeve, wherein the threaded sleeve is fixedly mounted on the other end of the pivot arm, and the axis of the threaded sleeve extends in a horizontal direction;

A screw rod, wherein the screw rod is threadably matched with the threaded sleeve, and one end of the screw rod extends out from the threaded sleeve toward the side where the head placement area is located;

A holding head, the holding head is connected to the one end of the screw rod and is suitable for holding and fixing the patient's head;

An operating member is connected to the other end of the screw rod so as to be operated by a user to drive the screw rod to rotate.

According to one embodiment of the present invention, the bottom of the sliding plate is slidably connected to the wing plate via a second sliding assembly;

The wing plate is also provided with a screw rod, a screw rod slider and a driving motor. The screw rod slider is fixed to the bottom of the sliding plate and is threadedly sleeved with the screw rod. The driving motor is connected to the screw rod to drive the screw rod to rotate.

According to an embodiment of the present invention, the clamping mechanism further includes a threaded locking member, a threaded hole is provided on the first sliding component, and the threaded locking member is threadedly connected in the threaded hole to selectively lock and fix the first sliding component and the sliding plate.

Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

FIG1 is a schematic diagram of the structure of an image-guided interventional surgery navigation treatment device according to an embodiment of the present invention;

FIG2 is a schematic structural diagram of the image-guided interventional surgery navigation treatment device (without the CT host) from another perspective according to an embodiment of the present invention;

3 is a schematic diagram of the structure of a treatment robot arm in an image-guided interventional surgery navigation treatment device according to an embodiment of the present invention;

4 is a schematic structural diagram of an adjustable support, an ultrasound probe, and a navigation display in an image-guided interventional surgery navigation treatment device according to an embodiment of the present invention;

5 is a schematic diagram of the structure of a clamping mechanism in an image-guided interventional surgery navigation treatment device according to an embodiment of the present invention;

6 is a schematic structural diagram of a clamping mechanism (in use) in an image-guided interventional surgery navigation treatment device according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of the structure of a central connection seat of an image-guided interventional surgery navigation treatment device according to an embodiment of the present invention.

Reference numerals:

10. CT host;

20. CT scanning bed;

201. Moving bed;

202, bed base;

2021, wing plate;

21. Sliding plate;

22. Screw rod;

23. Driving motor;

24. Thread locking parts;

25. A second sliding assembly;

30. Ultrasonic host;

31. Ultrasonic probe;

40. Navigation display;

41. Adjustable bracket;

411, support rod;

412, sliding seat;

413, locking sleeve;

414, multi-jointed arm;

50. Clamping mechanism;

501, pivot arm;

502, clamping assembly;

5021, threaded sleeve;

5022, screw;

5023, butt-holding head;

5024, operating parts;

51. A first sliding assembly;

52. pivot seat;

521, fixed seat;

521a, first tooth portion;

521b, first tooth groove;

522, unlocking parts;

523. Rotating body;

523a, pivot axis;

523b, second tooth portion;

524, elastic member;

60. Multi-axis robotic arm.

The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings.

DETAILED DESCRIPTION

The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but are not to be construed as limiting the present invention. All other embodiments obtained by ordinary technicians in the field without creative work based on the embodiments of the present invention are within the scope of protection of the present invention.

In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “circumferential”, “radial”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

The image-guided interventional surgery navigation treatment device according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

1 to 7 , the image-guided interventional surgery navigation treatment device provided according to an embodiment of the present invention includes a CT host 10 , a CT scanning bed 20 , a navigation display 40 and a head positioning mechanism.

Specifically, the CT host 10 is used to collect CT images. The CT scanning bed 20 is arranged near the CT host 10 . The patient can lie on the CT scanning bed 20 and obtain the CT image by scanning with the CT host 10 .

The ultrasound device is arranged on one side of the CT scanning bed 20 for collecting ultrasound images. The ultrasound device includes an ultrasound host 30, an ultrasound probe 31 and an electromagnetic sensor. The ultrasound probe 31 is connected to the ultrasound host 30. The electromagnetic sensor is arranged on the ultrasound probe 31, and spatial positioning is performed by the electromagnetic sensor.

The navigation display 40 is disposed on the one side of the CT scanning bed 20 to display a fused image obtained by fusing the CT image and/or the ultrasound image. The doctor can perform precise interventional treatment according to the guidance of the fused image.

The head positioning mechanism is arranged at one end of the CT scanning bed 20 near the CT mainframe 10 to fix the patient's head. In case of head interventional treatment, the head positioning mechanism can be used to position and fix the patient's head so that the head state meets the surgical requirements.

The image-guided interventional surgery navigation treatment device provided by the embodiment of the present invention has a CT scanning device and an ultrasound device, and the navigation display 40 displays a fused image after the CT image and/or the ultrasound image are fused. In this way, CT image navigation, ultrasound navigation, or a combination of the two can be selected as needed to meet different needs, with better targeting and adaptability. In addition, it also has a head positioning mechanism, which can be used to position the head during head treatment to ensure more accurate positioning of the interventional treatment.

2 and 4, in one embodiment of the present invention, an adjustable bracket 41 is provided on one side of the CT scanning bed 20, and the navigation display 40 is provided on the adjustable bracket 41, so that the height and angle of the navigation display 40 can be adjusted through the adjustable bracket 41. In other words, the navigation display 40 is provided on the adjustable bracket 41, and the height and angle of the navigation display 40 can be adjusted through the adjustable bracket 41, thereby facilitating the doctor to observe the navigation display 40 at a more appropriate viewing angle, and facilitating the clear observation of the fused image in the navigation display 40.

4 , in one embodiment of the present invention, the adjustable bracket 41 includes a support rod 411 , a sliding seat 412 , a locking sleeve 413 and two multi-joint arms 414 , wherein the support rod 411 can be installed and fixed on one side of the CT scanning bed 20 .

The sliding seat 412 is inserted into the support rod 411 and can slide vertically. The sliding seat 412 has a threaded sleeve 5021 end. Exemplarily, the threaded sleeve 5021 end has an external thread, and the threaded sleeve 5021 end is provided with at least two partition grooves spaced circumferentially. The partition grooves extend along the axis to separate the threaded sleeve 5021 end into a plurality of sheets, and the plurality of sheets are covered on the outside of the support rod 411.

The locking sleeve 413 is sleeved on the support rod 411 and connected to the sleeve end of the screw rod 5022, so that the sleeve end of the threaded sleeve 5021 can hold or loosen the support rod 411. That is, the locking sleeve 413 is threadedly matched with the sleeve end of the threaded sleeve 5021. By rotating the threaded sleeve 5021, the sleeve end of the threaded sleeve 5021 can hold the support rod 411 or loosen the support rod 411. In this way, when the height needs to be adjusted, the locking sleeve 413 can be adjusted to loosen the support rod 411, and then the sliding seat 412 can be slid up or down. After sliding to the desired position, the locking sleeve 413 can be used to make the sleeve end of the threaded sleeve 5021 hold the support rod 411 tightly.

One end of each of the multi-joint support arms 414 is pivotally connected to the sliding seat 412 around a vertical axis, and each of the multi-joint support arms 414 includes at least one horizontal rotation joint and one vertical rotation joint, wherein the horizontal rotation joint refers to a pivot joint that can rotate around a horizontal axis, and the vertical rotation joint refers to a pivot joint that can rotate around a vertical axis. The other end of one of the two multi-joint support arms is suitable for mounting the navigation display 40, and the other end of the other of the two multi-joint support arms is suitable for mounting the ultrasound probe 31.

That is, the navigation display 40 is connected and installed through one multi-joint support arm 414, and the ultrasonic probe 31 is connected and installed through another multi-joint support arm 414. Since the multi-joint support arm 414 has at least one horizontal rotation joint and one vertical rotation joint, the height and angle of the navigation display and the ultrasonic probe 31 can be freely adjusted as needed during use, and the adjustment is free and flexible, and the use is convenient. In addition, the ultrasonic probe 31 can be removed from the multi-joint support arm 414, which is convenient for using the ultrasonic probe 31.

In one embodiment of the present invention, a multi-axis robotic arm 60 is further included. The multi-axis robotic arm 60 is arranged on one side of the CT scanning bed 20 and is suitable for installing therapeutic instruments, such as radiators, ablation needles, etc. In this way, the multi-axis robotic arm 60 is used in conjunction with image guidance to complete some sophisticated operations.

1 and 2, in one embodiment of the present invention, the CT scanning bed 20 includes a bed base 202 and a movable bed body 201, wherein the movable bed body 201 is disposed on the bed base 202 and can move in and out of the CT mainframe 10. The head fixing mechanism includes two clamping mechanisms 50, which are disposed at one end of the bed base 202 adjacent to the CT mainframe 10 and are respectively located on both sides of the width direction of the bed base 202, and each of the clamping mechanisms 50 can slide along the width direction of the bed base 202.

That is to say, two clamping mechanisms 50 are arranged at one end of the CT mainframe 10 adjacent to the bed base 202, and the two clamping mechanisms 50 are respectively located on both sides of the bed base 202. On the one hand, the two clamping mechanisms 50 on both sides of the bed base 202 are used to clamp and fix the patient's head from both sides, respectively, so that the patient's head can be reliably positioned and fixed. On the other hand, since the two clamping mechanisms 50 are arranged on the bed base 202, and the bed base 202 remains stationary, even when the mobile bed 201 moves, the clamping mechanisms 50 still remain outside the CT mainframe 10, and will not affect the CT scanning. On the other hand, the two clamping mechanisms 50 can slide along the width direction of the bed base 202, so that before use, the two clamping mechanisms 50 can be slid outward to keep them away from the mobile bed 201 to avoid interference with the patient or the doctor, and when they need to be used, they can be slid inward to facilitate the use of the clamping mechanisms 50 to position and fix the patient's head, so that it is convenient and flexible to use.

1 to 6, in one embodiment of the present invention, a wing plate 2021 is formed on both sides of the bed base 202 adjacent to one end of the CT mainframe 10. The clamping mechanism 50 includes a sliding plate 21, a first sliding assembly 51, a pivot arm 501 and a clamping assembly 502, wherein the sliding plate 21 is slidably disposed on the wing plate 2021 along the width direction of the bed base 202. The first sliding assembly 51 is slidably disposed on the sliding plate 21 along the length direction of the bed base 202.

One end of the pivot arm 501 is pivotally connected to the first sliding assembly 51 through a pivot seat 52, and the other end of the pivot arm 501 is located above the movable bed 201. The clamping assembly 502 is disposed at the other end of the pivot arm 501 and is suitable for clamping and fixing the patient's head.

The pivot arm 501 is configured to be pivotable about a horizontal axis extending along the width direction of the bed base 202 and selectively stay at different angular positions so that the height position of the clamping assembly 502 adjacent to the head placement area is adjustable.

That is, the sliding plate 21 can slide along the width direction of the bed base 202, and the first sliding assembly 51 can slide along the length direction of the bed base 202 on the sliding plate 21. Since the pivot arm 501 is connected to the first sliding assembly 51, the pivot arm 501 and the clamping assembly 502 connected to the pivot arm 501 can slide along the length direction of the bed base 202 along with the first sliding assembly 51. In addition, since the pivot arm 501 can pivot around the horizontal axis, the pivot arm 501 can drive the clamping assembly 502 on the other end of the pivot arm 501 to rotate around the horizontal axis when the pivot arm 501 rotates. In other words, the clamping assembly 502 can slide along the length direction of the bed base 202 and can also rotate around the horizontal axis, thereby adjusting the height position and front-back position of the clamping assembly 502.

In specific use, the patient's head is placed on one end of the mobile bed 201 adjacent to the CT mainframe 10, and the patient's body position is adjusted. The sliding plate 21 is first slid inward along the width direction of the bed base 202, so that the clamping mechanism 50 is close to the mobile bed 201, and then the two clamping mechanisms 50 are slid along the length direction of the bed base 202, and the pivot arms 501 in the two clamping mechanisms 50 are respectively rotated, so that the clamping components 502 on the two pivot arms 501 are respectively rotated to appropriate positions, and then the patient's head is clamped by the clamping components 502 on the two pivot arms 501. Since the patient's body position is different, the state of the head is also different, so the two clamping mechanisms 50 can slide separately, and the pivot arms 501 in the two clamping mechanisms 50 can also be rotated separately, and the rotation angles can be different, so as to ensure that the two clamping components 502 are respectively rotated to suitable positions for clamping.

In this embodiment, the front and rear positions and height positions of the clamping assembly 502 are adjusted by sliding the pivot arm 501 along the length direction of the bed base 202 and rotating around the horizontal axis. This allows the position of the clamping assembly 502 to be freely adjusted according to body position and other needs during use, so that the head positioning and fixation can be achieved very conveniently and reliably. In addition, the operation is simple and convenient.

As shown in Figure 7, in one embodiment of the present invention, the pivot seat 52 includes a fixed seat 521, an unlocking member 522, a rotating body 523 and an elastic member 524, wherein the fixed seat 521 is installed on the first sliding component 51, and the fixed seat 521 has a pivot hole and a plurality of first teeth 521a arranged around the pivot hole, and a first tooth groove 521b is formed between two adjacent first teeth 521a.

The unlocking member 522 is arranged on one side of the fixing seat 521. The rotating body 523 is arranged on the other side of the fixing seat 521, and the rotating body 523 has a pivot shaft 523a and a plurality of second tooth portions 523b arranged around the pivot shaft 523a, the pivot shaft 523a passes through the pivot hole and is connected to the unlocking member 522, and the second tooth portions 523b cooperate with the first tooth groove 521b to limit the rotation of the rotating body 523 relative to the fixing seat 521; the one end of the pivot arm 501 is connected to the rotating body 523 and is relatively fixed in the circumferential direction.

The elastic member 524 is disposed between the fixed seat 521 and the unlocking member 522 to provide an elastic force to force the rotating body 523 to move toward the fixed seat 521 and keep the second tooth portion 523b in the first tooth groove 521b. When the unlocking member 522 is operated to apply a reverse force of the elastic force, the unlocking member 522 pushes the rotating body 523 away from the fixed seat 521 through the pivot shaft 523a, so that after the second tooth portion 523b is separated from the first tooth groove 521b, the rotating body 523 can rotate relative to the fixed seat 521.

That is to say, the rotating body 523 is arranged opposite to the fixed seat 521, and the rotating body 523 is rotatably matched with the pivot hole on the fixed seat 521 through the pivot shaft 523a, so that the rotating body 523 can rotate relative to the fixed seat 521. The rotating body 523 is connected to the pivot arm 501, so the pivot arm 501 can rotate by forming a rotational match between the rotating body 523 and the fixed seat 521. In addition, since a plurality of first tooth grooves 521b are circumferentially spaced apart on the fixed seat 521 on one side facing the fixed seat 521, and a plurality of second tooth portions 523b are circumferentially spaced apart on the rotating body 523, and the elastic member 524 provides an elastic force to force the rotating body 523 to move toward the fixed seat 521, the rotating body 523 and the fixed seat 521 are kept in close contact under the elastic force of the elastic member 524, so that the second tooth portion 523b can be kept in the first tooth groove 521b, and the cooperation between the second tooth portion 523b and the first tooth groove 521b can prevent the rotating body 523 from rotating, thereby achieving locking of the rotating body 523, and the pivot arm 501 connected to the rotating body 523 cannot rotate. The unlocking member 522 is connected to the pivot shaft 523a, and the elastic member 524 is located between the fixed seat 521 and the unlocking member 522. When a reverse force opposite to the elastic force is applied to the unlocking frame, the elastic member 524 can be compressed, and the rotating body 523 and the fixed seat 521 are pushed away through the pivot shaft 523a. At this time, the second tooth portion 523b can be withdrawn from the first tooth groove 521b, thereby releasing the lock on the rotating body 523, and the pivot arm 501 returns to a rotatable state.

During use, if the angle of the pivot arm 501 needs to be adjusted (that is, the height position of the clamping assembly 502 needs to be adjusted), the unlocking member 522 on the pivot seat 52 can be pressed with a reverse force opposite to the elastic force, thereby pushing the rotating body 523 to separate from the fixed seat 521, and the second tooth portion 523b can be withdrawn from the first tooth groove 521b, thereby releasing the lock on the rotating body 523, and the pivot arm 501 is restored to a state where it can rotate, and then the pivot arm 501 is rotated to the desired angle position. After the pivot arm 501 is rotated to the desired angle position, the unlocking member 522 can be released to cancel the reverse force, at which time, the elastic member 524 is reset, and the elastic force forces the rotating body 523 to return to close to the fixed seat 521, thereby making the second tooth portion 523b cooperate with the first tooth groove 521b, the rotating body 523 is locked, and the pivot arm 501 cannot rotate and is restricted to the desired position.

In this embodiment, the above-mentioned pivot seat 52 is used, and the cooperation between the first tooth groove 521b and the second tooth portion 523b is utilized to limit the pivot arm 501 to different desired angle positions, and the unlocking member 522 can quickly release the lock of the pivot arm 501, so that the pivot arm 501 can be restored to a rotatable state. In this way, the rotation adjustment operation of the pivot arm 501 is simple and convenient. In addition, its structure is simple and the locking is reliable.

5 and 6, in one embodiment of the present invention, the clamping assembly 502 includes a threaded sleeve 5021, a screw rod 5022, a holding head 5023 and an operating member 5024, wherein the threaded sleeve 5021 is fixedly mounted on the other end of the pivot arm 501, and the axis of the threaded sleeve 5021 extends in the horizontal direction; the screw rod 5022 is threadedly matched with the threaded sleeve 5021, and one end of the screw rod 5022 extends out from the threaded sleeve 5021 toward the side where the head placement area is located; the holding head 5023 is connected to the one end of the screw rod 5022, and is suitable for holding and fixing the patient's head; the operating member 5024 is connected to the other end of the screw rod 5022, so that the user can operate to drive the screw rod 5022 to rotate.

When in use, the screw rod 5022 can be rotated so that the abutting head 5023 on the screw rod 5022 approaches the patient's head, and finally the abutting head 5023 abuts against the patient's head, thereby clamping and fixing the patient's head. When the patient's head needs to be loosened, the screw rod 5022 can be rotated in the opposite direction so that the abutting head 5023 on the screw rod 5022 is away from the patient's head. It is easy to use and has high adjustment accuracy.

Preferably, the supporting head 5023 can be made of a plastic material with a certain degree of flexibility, so that it can protect the patient's head and prevent mechanical contact damage.

Advantageously, the abutment head 5023 is provided with a socket hole, and the one end of the screw rod 5022 has a socket portion, which is socketed in the socket hole and can pivot around the axis of the socket hole. In other words, the screw rod 5022 and the abutment head 5023 can pivot relative to each other. In this way, when the screw rod 5022 is rotated, the abutment head 5023 can remain stationary when the abutment head 5023 contacts the patient's head, thereby preventing friction damage between the abutment head 5023 and the patient's head to a certain extent.

1 to 2, in one embodiment of the present invention, the bottom of the sliding plate 21 is slidably connected to the wing plate 2021 through a second sliding assembly 25; the wing plate 2021 is also provided with a screw rod 22, a screw rod 22 slider and a drive motor 23, the screw rod 22 slider is fixed to the bottom of the sliding plate 21 and is matched with the screw rod 22 threaded sleeve 5021, and the drive motor 23 is connected to the screw rod 22 to drive the screw rod 22 to rotate.

When the driving motor 23 drives the screw rod 22 to rotate, since the screw rod 22 is threadedly matched with the screw rod 22 slider at the bottom of the sliding plate 21, the rotation of the screw rod 22 can drive the screw rod 22 slider and the connected sliding plate 21 to slide, so that the sliding plate 21 can slide along the width direction of the bed base 202, and it is automatically driven by the driving motor 23, which is convenient for operation and control.

In one embodiment of the present invention, the clamping mechanism 50 further includes a threaded locking member 24. The first sliding component 51 is provided with a threaded hole. The threaded locking member 24 is threadedly connected in the threaded hole to selectively lock and fix the first sliding component 51 and the sliding plate 21. After the pivot arm 501 slides to a desired position along with the first sliding component 51, the threaded locking member 24 can be used to relatively lock and fix the first sliding component and the sliding plate 21, thereby ensuring that the pivot arm 501 remains in the desired position.

In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly/indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims (4)

1. An image-guided interventional surgery navigation treatment device, comprising: CT host, used to acquire CT images; A CT scanning bed, wherein the CT scanning bed is arranged adjacent to the CT host; An ultrasound device, which is arranged on one side of the CT scanning bed and is used to collect ultrasound images. The ultrasound device comprises an ultrasound host, an ultrasound probe and an electromagnetic sensor. The ultrasound probe is connected to the ultrasound host, and the electromagnetic sensor is arranged on the ultrasound probe; A navigation display, the navigation display being arranged on the one side of the CT scanning bed and being used for displaying a fused image obtained by fusing the CT image and/or the ultrasound image; A head positioning mechanism, which is arranged at one end of the CT scanning bed adjacent to the CT mainframe and is used to fix the patient's head; An adjustable bracket is provided on one side of the CT scanning bed, and the navigation display is provided on the adjustable bracket, so that the height and angle of the navigation display can be adjusted through the adjustable bracket; The adjustable bracket comprises a support rod, a sliding seat, a locking sleeve and two multi-joint support arms, the sliding seat is inserted into the support rod and can slide vertically, and the sliding seat has a threaded sleeve end; the locking sleeve is sleeved on the support rod and connected to the threaded sleeve end so that the threaded sleeve end can hold or loosen the support rod; one end of each of the multi-joint support arms is pivotally connected to the sliding seat around a vertical axis, and each of the multi-joint support arms comprises at least one horizontal rotation joint and one vertical rotation joint; the other end of one of the two multi-joint support arms is suitable for installing the navigation display, and the other end of the other of the two multi-joint support arms is suitable for installing the ultrasound probe; The CT scanning bed comprises a bed base and a movable bed body, wherein the movable bed body is arranged on the bed base and can move in and out of the CT mainframe; the head fixing mechanism comprises two clamping mechanisms, wherein the two clamping mechanisms are arranged at one end of the bed base adjacent to the CT mainframe and are respectively located on both sides of the width direction of the bed base, and each of the clamping mechanisms can slide along the width direction of the bed base; A wing plate is formed on both sides of the bed base adjacent to one end of the CT mainframe; the clamping mechanism comprises a sliding plate, a first sliding assembly, a pivot arm and a clamping assembly, the sliding plate is slidably arranged on the wing plate along the width direction of the bed base; the first sliding assembly is slidably arranged on the sliding plate along the length direction of the bed base; one end of the pivot arm is pivotally connected to the first sliding assembly through a pivot seat, and the other end of the pivot arm is located above the movable bed body; the clamping assembly is arranged at the other end of the pivot arm and is suitable for clamping and fixing the patient's head; wherein the pivot arm is constructed to be pivotable around a horizontal axis and can selectively stay at different angular positions, so that the height position of the clamping assembly adjacent to the head placement area is adjustable, and the horizontal axis extends along the width direction of the bed base; The pivot seat comprises a fixed seat, an unlocking member, a rotating body and an elastic member, wherein the fixed seat is mounted on the first sliding assembly, the fixed seat is provided with a pivot hole and a plurality of first teeth arranged around the pivot hole, and a first tooth groove is formed between two adjacent first teeth; the unlocking member is arranged on one side of the fixed seat; the rotating body is arranged on the other side of the fixed seat, and the rotating body has a pivot shaft and a plurality of second teeth arranged around the pivot shaft, the pivot shaft passes through the pivot hole and is connected to the unlocking member, and the second teeth cooperate with the first tooth groove to limit the rotation of the rotating body relative to the fixed seat; the one end of the pivot arm is connected to the rotating body and is relatively fixed in the circumferential direction; the elastic member is arranged between the fixed seat and the unlocking member to provide an elastic force, forcing the rotating body to move toward the fixed seat and keep the second teeth in the first tooth groove; when the unlocking member is operated to apply a reverse force of the elastic force, the unlocking member pushes the rotating body away from the fixed seat through the pivot shaft, so that after the second teeth are separated from the first tooth groove, the rotating body can rotate relative to the fixed seat; The clamping assembly includes a threaded sleeve, a screw, a holding head and an operating member. The threaded sleeve is fixed to the other end of the pivot arm, and the axis of the threaded sleeve extends in the horizontal direction; the screw is threadedly matched with the threaded sleeve, and one end of the screw extends out of the threaded sleeve and faces the side where the head placement area is located; the holding head is connected to the one end of the screw and is suitable for holding and fixing the patient's head; the operating member is connected to the other end of the screw so that the user can operate to drive the screw to rotate. 2. The image-guided interventional surgery navigation treatment device according to claim 1 is characterized in that it also includes a multi-axis robotic arm, which is configured on one side of the CT scanning bed and is suitable for installing treatment equipment. 3. The image-guided interventional surgery navigation treatment device according to claim 1, characterized in that the bottom of the sliding plate is slidably connected to the wing plate through a second sliding assembly; The wing plate is also provided with a screw rod, a screw rod slider and a driving motor. The screw rod slider is fixed to the bottom of the sliding plate and is threadedly sleeved with the screw rod. The driving motor is connected to the screw rod to drive the screw rod to rotate. 4. The image-guided interventional surgery navigation treatment device according to claim 1 is characterized in that the clamping mechanism also includes a threaded locking member, a threaded hole is provided on the first sliding component, and the threaded locking member is threadedly connected in the threaded hole to selectively lock and fix the first sliding component to the sliding plate.