CN115670657A - Remote Intervention Device and Magnetically Compatible Remote Intervention System - Google Patents

Abstract

The invention provides a remote intervention device and a magnetic compatible remote intervention system. The remote intervention device comprises a spherical hinge mechanism, a screw rod and nut mechanism, an intermediate connecting mechanism and a driving mechanism; the spherical hinge mechanism is provided with a human body installation position, the spherical hinge mechanism is installed at the end part of the feed screw nut mechanism, and the driving mechanism is connected with the feed screw nut mechanism through an intermediate connecting mechanism; an intervention needle mounting position is arranged on the screw rod nut mechanism and used for mounting an intervention needle; the driving mechanism can drive the screw rod and nut mechanism through the intermediate connecting mechanism to move the interventional needle so as to realize interventional operation; the invention has simple structure, lighter weight and convenient operation, can be fixed on the skull of a patient, and the intervention precision is not influenced by the involuntary movement of the patient. The intervention track adjusting mode adopts a spherical hinge mechanism, is very flexible, and has a wider adjustable angle range.

Description

Remote Intervention Device and Magnetically Compatible Remote Intervention System

technical field

The present invention relates to the field of medical appliances, in particular, to a remote interventional device and a magnetically compatible remote interventional system, in particular, to a magnetically compatible remote interventional device based on a screw and hinge mechanism, especially for brain tissue intervention The teleintervention device is magnetically compatible with the teleintervention system.

Background technique

Magnetic resonance imaging (MRI) is one of the important technical means for the clinical diagnosis and treatment of important diseases such as cardiovascular and cerebrovascular diseases and tumors. Compared with CT and PET technologies, it is non-invasive, has structural imaging features, excellent soft tissue contrast function, and can provide multi-angle and multi-level three-dimensional imaging. Moreover, patients will not be exposed to the destructive ionizing radiation of X-rays, and there is no radiation, which is safer for patients and medical staff.

However, the space in the cavity of the MRI scanner is narrow, and many treatments cannot be carried out well. Robots or interventional needles will be limited by space when operating in it, thereby reducing detection efficiency.

At present, there are interventional robotic devices in the magnetic resonance environment to try to solve this problem, but the current solutions generally have defects such as weak connection with the patient's body, complex equipment structure, and limited range of equipment adjustment angles.

The patent literature of CN113893036A discloses a kind of interventional robot device under the magnetic resonance environment, including: the robot body arranged in the magnetic resonance equipment, including the fixed seat, the supporting seat, the driving mechanism and the end effector mechanism, the supporting seat is arranged on the fixed Above the seat, an operating space is formed with the fixed seat; the driving mechanism is arranged in the operating space, and the driving mechanism controls the adjustment position of the end effector mechanism. The interventional robotic device has a complex structure and heavy weight, and is not rigidly connected to the patient's body, so the interventional accuracy is easily affected by the involuntary movement of the patient.

The patent document of CN103876786A discloses a breast interventional robot compatible with nuclear magnetic resonance, including: a positioning module, a puncture module, a breast stabilization module, a biopsy module, a storage module, a drive module, and a prone support. The positioning module is used to locate the needle entry point, which is composed of a linear slide driven by three screw nuts; the puncture module is used to pierce the biopsy needle into the human body and send the biopsy needle to the target point, driven by a screw nut mechanism; The module is used to take tissue samples, including the biopsy needle mechanism and the biopsy needle driving slide table, which can realize automatic winding and firing operations; the storage module is used to store the samples taken by the biopsy module, has multiple storage bins, and can be rotated; the breast is stable The module is used to stabilize the shape of breast tissue; the driving module is used to remotely drive the robot; the prone support is used to support the patient's body and accommodate the breast interventional robot; the whole robot is made of non-magnetic stainless steel except for the inner needle, outer needle, spring and flexible shaft. Part of the material is nylon, which is compatible with MRI equipment. However, this interventional robot is only aimed at breast interventions and cannot be applied to brain tissue interventions, and the way to adjust the interventional trajectory is a screw mechanism, and the adjustable angle range is limited.

Patent document CN110353777A discloses a rotary mammary gland interventional robot with hydraulic drive differential movement under MRI. It consists of a positioning module, a puncture module, a rotation module and a breast tissue fixing module. The positioning module can adjust the position of the biopsy mechanism, the puncture module can realize the puncture of breast tissue, the rotation module can make the puncture module rotate 360° around a breast tissue, and can adjust the pitch angle of the biopsy gun, and the breast tissue fixation module can stabilize the breast Tissues, while this solution is designed for breast interventions and cannot be applied to brain tissue interventions.

Contents of the invention

In view of the defects in the prior art, the object of the present invention is to provide a remote interventional device and a magnetically compatible remote interventional system.

A remote interventional device provided according to the present invention includes a ball joint mechanism, a screw nut mechanism, an intermediate connection mechanism, and a driving mechanism;

The ball hinge mechanism is provided with a human installation position, the ball hinge mechanism is installed at the end of the screw nut mechanism, and the driving mechanism is connected to the screw nut mechanism through an intermediate connection mechanism;

The screw nut mechanism is provided with an intervention needle installation position, and the intervention needle installation position is used to install the intervention needle;

The driving mechanism can drive the screw nut mechanism through the intermediate connection mechanism to move the interventional needle to achieve interventional operation;

Preferably, the ball hinge mechanism includes a base, a ball hinge and a locking ring;

The human body mounting position is set on the base, the ball hinge is installed on the base, and the locking ring is installed on the base for locking the ball hinge;

The spherical hinge is a hollow spherical hinge, and the end of the spherical hinge is provided with a hollow tube, and the hollow tube is connected with the screw nut mechanism.

Preferably, the screw nut mechanism includes a screw base, a nut, a support base, a bearing and a screw;

One side of the screw base is connected to the hollow tube; a screw is installed on the other side of the screw base, and the nut cooperates with the screw, and the nut can move along the screw movement in the length direction;

The end of the screw rod passes through the support base and is connected to the intermediate connection mechanism; the screw rod is connected to the support base through a bearing;

The nut is provided with the installation position of the intervention needle, and the base of the screw rod is provided with a through hole, and the axis of the hollow tube, the through hole, and the installation position of the intervention needle correspond to each other.

Preferably, the intermediate connection mechanism includes a hinge mechanism, and the hinge mechanism includes universal joint assemblies and connecting pipes arranged alternately in sequence;

The universal joint assembly at the end is used for the connection between the connecting pipe and the screw nut mechanism, and the connecting pipe at the end is connected with the driving mechanism.

Preferably, the drive mechanism includes a flexible shaft, a stepper motor, a driver, a controller and a power supply;

Both the power supply and the controller are connected to the driver;

The driver, the stepping motor and the flexible shaft are connected in sequence, and the end of the flexible shaft is connected with the intermediate connection mechanism.

Preferably, the human body installation site is connected to the human body through fasteners.

Preferably, the universal joint assembly includes two universal forks and a cross shaft;

The two universal forks are connected through a cross shaft.

Preferably, the bearing is made of plastic; the screw rod is made of aluminum alloy.

Preferably, the connecting pipe is a carbon fiber pipe.

A magnetically compatible remote interventional system according to the present invention is characterized in that it adopts the remote interventional device according to any one of claims 1-9, and further includes a magnetic resonance room and a control room;

A shielding wall is set between the magnetic resonance room and the control room, the main part of the driving mechanism is set in the control room, and the ball joint mechanism, the screw nut mechanism and the intermediate connection mechanism are all set in the magnetic resonance room , the end of the drive mechanism passes through the shielding wall and is connected to the end of the intermediate connection mechanism.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention is simple in structure, light in weight, easy to operate, and can be fixed on the patient's head, and the intervention accuracy is not affected by the involuntary movement of the patient.

2. The adjustment method of the intervention trajectory of the present invention adopts a ball hinge mechanism, which is very flexible and has a wider range of adjustable angles.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is a schematic structural diagram of a spherical hinge mechanism of the present invention;

Fig. 2 is a schematic diagram of the installation structure of the ball hinge mechanism and the screw nut mechanism of the present invention;

Fig. 3 is a structural schematic diagram of a universal joint assembly;

Fig. 4 is the structural representation of intermediate connecting mechanism;

Fig. 5 is a schematic structural diagram of a magnetically compatible remote intervention system, which includes the remote intervention device.

The figure shows:

Detailed ways

The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

As shown in Figures 1-5, the present invention provides a remote interventional device, including a ball hinge mechanism 100, a screw nut mechanism 200, an intermediate connection mechanism 300, and a drive mechanism 400; Position 19, the ball hinge mechanism 100 is installed at the end of the screw nut mechanism 200, the driving mechanism 400 is connected to the screw nut mechanism 200 through an intermediate connection mechanism 300; An interventional needle installation position 20 is provided, and the interventional needle installation position 20 is used to install an interventional needle; the drive mechanism can drive the screw nut mechanism 200 through the intermediate connection mechanism 300 to move the interventional needle to Interventional operation is realized; the human body installation position 19 is connected with the human body through fasteners.

As shown in Figures 1 and 2, the ball hinge mechanism 100 includes a base 1, a ball hinge 2 and a locking ring 3; the human body mounting position 19 is arranged on the base 1, and the ball hinge 2 is installed on the base 1, The locking ring 3 is installed on the base 1 for locking the ball joint 2; the ball joint 2 is a hollow ball joint, and the end of the ball joint 2 is provided with a hollow tube 21, and the hollow tube 21 It is connected with the screw nut mechanism 200 . In a preferred example, the base 1 is made of plastic material, the base 1 is provided with external threads, and the locking ring locks the ball joint 2 through the external threads.

As shown in Figure 2, the screw nut mechanism 200 includes a screw base 5, a nut 7, a support seat 8, a bearing 9 and a screw 10; one side of the screw base 5 is connected to the hollow tube 21; Screw mandrel 10 is installed on the other side of described screw mandrel base 5, and described nut 7 cooperates with screw mandrel, and described nut 7 can move along the length direction of described screw mandrel 10; The end passes through the support base 8 and is connected with the intermediate connection mechanism 300; the screw rod 10 is connected with the support base 8 through a bearing 9; 5 is provided with a through hole, the axis of the hollow tube 21, the through hole, and the position of the intervention needle installation position 20 correspond to each other. Specifically, the axis of the hollow tube 21, the through hole, and the position of the intervention needle installation position 20 are located at on the same line.

In a preferred example, the screw nut mechanism 200 also includes a guide shaft 6, the two ends of the guide shaft 6 are installed on the screw base 5 and the support seat 8 respectively, and the nut 7 can move along the The guide shaft 6 moves along the length direction, and the guide shaft 6 provides a guiding function for the nut 7 .

As shown in Figure 2, in a preferred example, the ball hinge mechanism 100 also includes a connecting plate 4, and the hollow tube 21 and the screw nut mechanism 200 are connected by nylon bolts through the connecting plate 4, specifically, the hollow tube 21 Connect with screw mandrel base 5 by connecting plate 4 with nylon bolts.

As shown in Figures 3 and 4, the intermediate connection mechanism 300 includes a hinge mechanism, and the hinge mechanism includes universal joint assemblies 22 and connecting pipes 13 arranged alternately in sequence; the universal joint assemblies 22 at the end are used for connecting pipes 13 and the connection between the screw nut mechanism 200, specifically, the end of the screw 10 is connected to the universal joint assembly 22 through the installation hole of the universal joint assembly 22; the connecting pipe 13 at the end is connected to the The drive mechanism 400 is connected.

The universal joint assembly 22 includes two universal forks 11 and a cross shaft 12; the two universal forks 11 are connected through the cross shaft 12, specifically, the two universal forks 11 are connected to the cross shaft through nylon bolts. Shaft 12 is connected.

Described driving mechanism 400 comprises flexible shaft 14, stepping motor 15, driver 16, controller 17 and power supply 18; Described power supply 18 and controller 17 are all connected with described driver 16; Driver 16, stepping motor 15 and soft The shafts 14 are connected in sequence, and the end of the flexible shaft 14 is connected with the intermediate connection mechanism 300 , specifically, the end of the flexible shaft 14 is connected with the connecting pipe 13 at the end.

Working principle and process of the present invention are as follows:

The base 1 is fixed on the patient's skull by three titanium alloy screws. The operator adjusts the angle of the ball joint 2 to adjust the intervention trajectory. After the adjustment, tighten the locking ring 3 to fix the ball joint 2 . The stepper motor 15 is driven by a driver 16, the motion speed and distance of the motor are controlled by a controller 17, and the whole driving system is powered by a power supply 18.

The stepper motor is controlled by the controller. After the controller is set, the stepper motor starts to move according to the set speed and distance. The stepper motor transmits the torque to the intermediate connection mechanism 300 through the flexible shaft, and the intermediate connection mechanism 300 drives the screw rod. 10 rotates to start linear motion by driving the nut 7. At this time, the intervention needle fixed on the nut 7 moves linearly together with the nut 7, thereby realizing the intervention operation.

The present invention also provides a magnetically compatible remote intervention system, which adopts the remote intervention device and further includes a magnetic resonance room 500 and a control room 600;

A shielding wall 700 is provided between the magnetic resonance chamber 500 and the control chamber 600, the main part of the driving mechanism 400 is disposed in the control chamber 600, the ball joint mechanism 100, the screw nut mechanism 200 and the intermediate connection mechanism 300 are all arranged in the magnetic resonance chamber 500 , and the end of the driving mechanism 400 passes through the shielding wall 700 and is connected to the end of the intermediate connection mechanism 300 .

In order to enable the remote interventional device to be used in the magnetic resonance room 500, in a preferred example, the bearing 9 is made of plastic, the screw 10 is made of aluminum alloy, and the guide shaft 6 is made of carbon fiber , the connecting pipe 13 is a carbon fiber pipe.

The present invention solves the problem of remote drive intervention by adopting the screw nut mechanism and the intermediate connection mechanism 300; by adopting the ball joint mechanism 100, the problem of adjustment of the intervention track is solved; Ferromagnetic materials are used to process various parts, and the stepping motor drive system is placed in the control room, which solves the problem of magnetic compatibility of the interventional device.

The present invention adopts a hinge mechanism based on a universal joint assembly, the intermediate connection mechanism 300 can transmit torque, and the driving mechanism 400 can remotely drive the screw nut mechanism 200 through the intermediate connection mechanism 300 to implement the intervention needle. The present invention adopts a ball joint with three degrees of freedom to adjust the intervention trajectory, and uses a screw nut mechanism with one degree of freedom for intervention, so that the remote intervention device has a higher degree of freedom and the intervention needle can be adjusted The range is large. In addition, the present invention can be fixed on the patient without being affected by involuntary movement of the patient, and the whole system is fully magnetically compatible and can work under a 3.0T magnetic field.

Compared with the patent document of CN113893036A, the present invention has simple structure, light weight, convenient operation, and is fixed on the patient's skull, and the intervention accuracy is not affected by the involuntary movement of the patient. Compared with the patent document of CN103876786A, the present invention can be aimed at, and mainly aimed at brain tissue intervention. The adjustment method of the intervention track adopts a ball hinge mechanism, which is very flexible and has a wider range of adjustable angles.

In the description of this application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship indicated by "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, rather than indicating or implying the referred device Or elements must have a certain orientation, be constructed and operate in a certain orientation, and thus should not be construed as limiting the application.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. In the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims (10)

1. A remote interventional device, characterized in that it comprises a ball joint mechanism (100), a screw nut mechanism (200), an intermediate connection mechanism (300) and a drive mechanism (400); The human body mounting position (19) is arranged on the ball hinge mechanism (100), the ball hinge mechanism (100) is installed at the end of the screw nut mechanism (200), the driving mechanism (400) is connected with the The screw nut mechanism (200) is connected through an intermediate connection mechanism (300); The screw nut mechanism (200) is provided with an interventional needle installation position (20), and the interventional needle installation position (20) is used for installing an interventional needle; The driving mechanism can drive the screw nut mechanism (200) through the intermediate connection mechanism (300), so as to move the interventional needle to realize interventional operation. 2. The remote interventional device according to claim 1, characterized in that, the ball joint mechanism (100) comprises a base (1), a ball joint (2) and a locking ring (3); The human body mounting position (19) is arranged on the base (1), the ball hinge (2) is installed on the base (1), and the locking ring (3) is installed on the base (1), with to lock the ball joint (2); The ball joint (2) is a hollow ball joint, and the end of the ball joint (2) is provided with a hollow tube (21), and the hollow tube (21) is connected with the screw nut mechanism (200). 3. The remote interventional device according to claim 2, characterized in that, the screw nut mechanism (200) comprises a screw base (5), a nut (7), a support base (8), a bearing (9) and Screw rod (10); One side of the screw base (5) is connected with the hollow pipe (21); the other side of the screw base (5) is equipped with a screw (10), and the nut (7) is connected with the screw The rods cooperate with each other, and the nut (7) can move along the length direction of the screw rod (10); The end of the screw mandrel (10) passes through the support seat (8) and is connected with the intermediate connection mechanism (300); the screw mandrel (10) is connected to the support seat ( 8) connection; The nut (7) is provided with an interventional needle installation position (20), and the screw base (5) is provided with a through hole, and the axis of the hollow tube (21), the through hole, and the position of the interventional needle installation position (20) correspond. 4. The remote interventional device according to claim 1, characterized in that, the intermediate connection mechanism (300) includes a hinge mechanism, and the hinge mechanism includes universal joint assemblies (22) and connecting pipes (13) arranged alternately in sequence ); The universal joint assembly (22) at the end is used for the connection between the connecting pipe (13) and the screw nut mechanism (200), and the connecting pipe (13) at the end is connected with the driving mechanism (400). 5. The remote interventional device according to claim 1, characterized in that the drive mechanism (400) includes a flexible shaft (14), a stepper motor (15), a driver (16), a controller (17) and a power supply (18); Both the power supply (18) and the controller (17) are connected to the driver (16); The driver (16), the stepping motor (15) and the flexible shaft (14) are connected in sequence, and the end of the flexible shaft (14) is connected with the intermediate connection mechanism (300). 6. The remote interventional device according to claim 1, characterized in that, the human body mounting position (19) is connected to the human body through fasteners. 7. The remote interventional device according to claim 4, characterized in that, the universal joint assembly (22) comprises two universal forks (11) and a cross shaft (12); The two universal forks (11) are connected through a cross shaft (12). 8. The remote interventional device according to claim 3, characterized in that, the bearing (9) is made of plastic; the screw rod (10) is made of aluminum alloy. 9. The remote interventional device according to claim 4, characterized in that, the connecting pipe (13) is a carbon fiber pipe. 10. A magnetically compatible remote interventional system, characterized in that it adopts the remote interventional device according to any one of claims 1-9, and further comprises a magnetic resonance room (500) and a control room (600); A shielding wall (700) is set between the magnetic resonance room (500) and the control room (600), the main part of the drive mechanism (400) is set in the control room (600), and the ball joint mechanism ( 100), the screw nut mechanism (200) and the intermediate connection mechanism (300) are all arranged in the magnetic resonance chamber (500), and the end of the driving mechanism (400) passes through the shielding wall (700) and The ends of the intermediate connection mechanism (300) are connected.

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