CN218651957U - Puncture positioning device - Google Patents
Puncture positioning device Download PDFInfo
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- CN218651957U CN218651957U CN202222017500.9U CN202222017500U CN218651957U CN 218651957 U CN218651957 U CN 218651957U CN 202222017500 U CN202222017500 U CN 202222017500U CN 218651957 U CN218651957 U CN 218651957U
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- 230000033001 locomotion Effects 0.000 claims abstract description 53
- 230000007246 mechanism Effects 0.000 claims description 40
- 239000000758 substrate Substances 0.000 claims description 12
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000036285 pathological change Effects 0.000 description 4
- 231100000915 pathological change Toxicity 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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Abstract
The utility model provides a puncture positioner, first base plate and second base plate including relative up-down setting, two base plates link to each other through the support column, be equipped with Y axle motion on two base plates respectively, every Y axle motion department all is connected with X axle motion, Y axle motion enables X axle motion and removes along Y axle direction, two X axle motion correspond with first connecting plate and second connecting plate respectively and are connected, two X axle motion enable first connecting plate and second connecting plate and remove along X axle direction, be equipped with first connecting seat on the first connecting plate, be equipped with the second connecting seat on the second connecting plate, first connecting seat is connected with the rotation axis rotation, the rotation axis is articulated mutually with the multi freedom platform through the hinge supporting seat, be equipped with pjncture needle guider on the platform, the second connecting seat rotates with the multi freedom platform through the cross cardan shaft and is connected. The puncture positioning device can efficiently and accurately position the puncture needle in an automatic mode.
Description
Technical Field
The utility model relates to the technical field of medical equipment, especially, relate to a puncture positioner.
Background
The existing percutaneous puncture operation is that a doctor looks up the position of a nodule or a tumor in a body according to a CT/MRI/ultrasonic image, then automatically judges a needle inlet hole according to anatomical knowledge and personal experience of the doctor, manually inserts a puncture needle, generally inserts the puncture needle by two to three times, and obtains image data again at intervals to judge whether a needle inlet path is accurate or whether the needle inlet path penetrates into an accurate position. The disadvantages of the above approach are as follows: 1) The degree of dependence on doctor experience and technology is high; 2) Doctors need to stay at the operation bed and bear the radiation of the CT equipment for a long time; 3) Image data needs to be obtained for many times, and if CT is used, doctors and patients need to bear more doses of radiation;
4) The accuracy is lower for the manual puncture of doctor.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem that exists among the prior art, this application has proposed a puncture positioner to adopt automatic mode to make high-efficient, accurate location of pjncture needle, realize that the pjncture needle carries out the operation to pathological change department in accurate position, thereby improve reliability, the security of operation greatly.
In order to achieve the purpose, the application provides a puncture positioning device, including relative first base plate and the second base plate that sets up from top to bottom, first base plate and second base plate are connected through the support column, be equipped with Y axle motion on first base plate and the second base plate respectively, every Y axle motion department all is connected with X axle motion, Y axle motion can make X axle motion move along Y axle direction, and two X axle motions correspond with first connecting plate and second connecting plate respectively and are connected, and two X axle motions can make first connecting plate and second connecting plate move along X axle direction, be equipped with first connecting seat on the first connecting plate, be equipped with the second connecting seat on the second connecting plate, first connecting seat rotates with the multi freedom platform through first connecting piece to be connected, the second connecting seat through the second connecting piece with the multi freedom platform rotates to be connected, be equipped with puncture needle guider on the multi freedom platform.
In some embodiments, the structure of the Y-axis motion mechanism is as follows: the first linear guide rail is matched with a first sliding block arranged in an X-axis movement mechanism, a first motor is arranged on the corresponding substrate and drives a first driving wheel to rotate, the first driving wheel is connected with a first driven wheel through a first synchronous belt, the first driven wheel is connected with a first ball screw, two ends of the first ball screw are respectively connected with two first supports arranged on the corresponding substrate through bearings, a first nut matched with the first ball screw is arranged on the first ball screw, and the first nut is connected with the X-axis movement mechanism.
In some embodiments, the X-axis motion mechanism is configured as follows: include with the mounting panel that first nut is connected, be equipped with on the mounting panel with first linear guide rail cooperatees the first slider that uses still be equipped with the second motor on the mounting panel, the second motor drives the second action wheel and rotates, the second action wheel is connected from the driving wheel with the second through the second hold-in range, the second is connected with second ball screw from the driving wheel, second ball screw's both ends are in through bearing and setting respectively two second supports on the mounting panel are connected, be equipped with on the second ball screw with second ball screw cooperatees the second nut that uses, the second nut is connected with corresponding connecting plate, is equipped with the second slider on corresponding connecting plate, the second slider with set up along X axle direction second linear guide rail cooperation on the mounting panel uses.
In some embodiments, the first connection seat is rotatably connected with the multi-degree-of-freedom platform through the first connection piece by the following structure: the first connecting seat is rotatably connected with the rotating shaft, and the rotating shaft is hinged with the multi-degree-of-freedom platform through the hinge supporting seat.
In some embodiments, the second connecting seat is rotationally connected with the multi-degree-of-freedom platform through a second connecting piece in the following structure: the second connecting base is rotatably connected with the multi-degree-of-freedom platform through a cross universal shaft.
In some embodiments, the needle guide is a guide having a guide bore.
The beneficial effect of this scheme of this application lies in above-mentioned puncture positioner, can adopt automatic mode to make high-efficient, accurate location of pjncture needle, realizes that the pjncture needle carries out the operation to pathological change department in accurate position to improve reliability, the security of operation greatly.
Drawings
Fig. 1 shows a schematic structural diagram of a puncture positioning device in an embodiment.
Fig. 2 shows a schematic structural view of the X-axis movement mechanism and the Y-axis movement mechanism in the embodiment.
FIG. 3 is a schematic structural diagram of the multi-degree-of-freedom platform and the connecting part arranged on the multi-degree-of-freedom platform in the embodiment.
Reference numerals: 1-a first motion mechanism, 2-a second motion mechanism, 3-a support column, 4-a first connection plate, 5-a second connection plate, 6-a first connection seat, 7-a second connection seat, 8-a multi-degree-of-freedom platform, 9-a first base plate, 10-a second base plate, 11-a Y-axis motion mechanism, 12-an X-axis motion mechanism, 111-a first side vertical plate, 112-a second side vertical plate, 113-a first linear guide rail, 114-a first motor, 115-a first driving wheel, 116-a first synchronous belt, 117-a first driven wheel, 118-a first ball screw, 119-a first bracket, 121-a mounting plate, 122-a first slide block, 123-a second motor, 124-a second synchronous belt, 125-a second driven wheel, 126-a second ball screw, 127-a second bracket, 128-a second nut, 129-a second linear guide rail, 801-a cross universal shaft, 802-a hinge support seat, 803-a rotation shaft.
Detailed Description
The following further describes embodiments of the present application with reference to the drawings.
In the description of the present application, it is to be understood that the terms "first", "second", and the like are used for distinguishing similar objects and not for describing or indicating a particular order or sequence, and that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be considered as limiting the present application.
As shown in fig. 1 to 3, the puncture positioning device according to the present application includes a first substrate 9 and a second substrate 10 which are disposed opposite to each other from top to bottom, the first substrate 9 and the second substrate 10 are connected via a support pillar 3, the first substrate 9 and the second substrate 10 are respectively provided with a Y-axis motion mechanism 11, each Y-axis motion mechanism 11 is connected to an X-axis motion mechanism 12, the Y-axis motion mechanism 11 and the X-axis motion mechanism 12 on the first substrate 9 form a first motion mechanism 1, the Y-axis motion mechanism 11 and the X-axis motion mechanism 12 on the second substrate 10 form a second motion mechanism 2, the Y-axis motion mechanism 11 can move the X-axis motion mechanism 12 along the Y-axis direction, the two X-axis motion mechanisms 12 are respectively connected to the first connection plate 4 and the second connection plate 5 correspondingly, the two X-axis motion mechanisms 12 can move the first connection plate 4 and the second connection plate 5 along the X-axis direction, the first connection plate 4 is provided with a first connection seat 6, the second connection seat 5 is provided with a second connection seat 7, the first connection seat 6 is connected to a multi-degree-of-freedom rotation platform 803, and a multi-degree-freedom rotation guide platform 801, and a cross-degree-freedom hinge-joint platform 801 is provided with a second connection platform 8.
In the present embodiment, the structure of the Y-axis movement mechanism 11 is as follows: the X-axis moving mechanism comprises a first side vertical plate 111 and a second side vertical plate 112 which are oppositely arranged on corresponding base plates, wherein first linear guide rails 113 arranged along the Y-axis direction are arranged on the first side vertical plate 111 and the second side vertical plate 112, the first linear guide rails 113 are matched with a first sliding block 122 arranged in the X-axis moving mechanism 12, a first motor 114 is arranged on the corresponding base plates, the first motor 114 drives a first driving wheel 115 to rotate, the first driving wheel 115 is connected with a first driven wheel 117 through a first synchronous belt 116, the first driven wheel 117 is connected with a first ball screw 118, two ends of the first ball screw 118 are respectively connected with two first supports 119 arranged on the corresponding base plates through bearings, a first nut matched with the first ball screw 118 is arranged on the first ball screw 118, and the first nut is connected with the X-axis moving mechanism 12. When the first motor 114 is controlled to operate, the X-axis movement mechanism 12 can be moved in the Y-axis direction.
The structure of the X-axis movement mechanism 12 is as follows: the mounting plate 121 is provided with a first slider 122 which is matched with the first linear guide rail 113 for use, the mounting plate 121 is further provided with a second motor 123, the second motor 123 drives a second driving wheel to rotate, the second driving wheel is connected with a second driven wheel 125 through a second synchronous belt 124, the second driven wheel 125 is connected with a second ball screw 126, two ends of the second ball screw 126 are respectively connected with two second supports 127 arranged on the mounting plate 121 through bearings, the second ball screw 126 is provided with a second nut 128 which is matched with the second ball screw 126 for use, the second nut 128 is connected with a corresponding connecting plate, the corresponding connecting plate is provided with a second slider, and the second slider is matched with a second linear guide rail 129 arranged on the mounting plate 121 along the X-axis direction for use. When the second motor 123 is controlled to operate, the corresponding connecting plate can be moved in the X-axis direction.
The puncture needle guide device is a guide piece with a guide hole. Specifically, the puncture needle guide device may be a guide tube, and the guide tube is installed in an installation hole of the multi-degree-of-freedom platform 8.
In specific use, the puncture positioner that this application relates to uses in cooperation with navigation equipment, through the cooperation of Y axle motion 11, X axle motion 12, and through the setting of cross universal shaft 801, hinge supporting seat 802 and rotation axis 803 can make multi freedom platform 8 possess a plurality of degrees of freedom, makes it realize different position and angle change, and then makes puncture needle guider on the multi freedom platform 8 can aim at pathological change department, and when the operation, the doctor is held the puncture needle and is followed puncture needle guider department inserts the puncture needle into pathological change department, can make the high-efficient, accurate location of puncture needle like this to demand when satisfying percutaneous puncture.
The puncture positioning device can adopt an automatic mode to efficiently and accurately position the puncture needle, and realizes that the puncture needle performs operation on a lesion at an accurate position, so that the reliability and the safety of the operation are greatly improved.
The above description is only for the preferred embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can substitute or change the technical solution of the present application and its concept within the technical scope of the present application, and shall be covered by the scope of the present application.
Claims (6)
1. A puncture positioning device is characterized in that: the multi-freedom-degree platform comprises a first base plate and a second base plate which are arranged oppositely from top to bottom, wherein the first base plate and the second base plate are connected through a support column, Y-axis motion mechanisms are arranged on the first base plate and the second base plate respectively, each Y-axis motion mechanism is connected with an X-axis motion mechanism, the Y-axis motion mechanisms can enable the X-axis motion mechanisms to move along the Y-axis direction, the two X-axis motion mechanisms are correspondingly connected with a first connecting plate and a second connecting plate respectively, the first connecting plate and the second connecting plate can move along the X-axis direction through the two X-axis motion mechanisms, a first connecting seat is arranged on the first connecting plate, a second connecting seat is arranged on the second connecting plate, the first connecting seat is rotatably connected with the multi-freedom-degree platform through a first connecting piece, the second connecting seat is rotatably connected with the multi-freedom-degree platform through a second connecting piece, and a puncture needle guide device is arranged on the multi-freedom-degree platform.
2. The puncture positioning device according to claim 1, wherein: the structure of the Y-axis motion mechanism is as follows: the first linear guide rail is matched with a first sliding block arranged in an X-axis movement mechanism, a first motor is arranged on the corresponding substrate and drives a first driving wheel to rotate, the first driving wheel is connected with a first driven wheel through a first synchronous belt, the first driven wheel is connected with a first ball screw, two ends of the first ball screw are respectively connected with two first supports arranged on the corresponding substrate through bearings, a first nut matched with the first ball screw is arranged on the first ball screw, and the first nut is connected with the X-axis movement mechanism.
3. The puncture positioning device of claim 2, wherein: the structure of the X-axis motion mechanism is as follows: include with the mounting panel that first nut is connected, be equipped with on the mounting panel with first linear guide rail cooperatees the first slider that uses still be equipped with the second motor on the mounting panel, the second motor drives the second action wheel and rotates, the second action wheel is connected from the driving wheel with the second through the second hold-in range, the second is connected with second ball screw from the driving wheel, second ball screw's both ends are in through bearing and setting respectively two second supports on the mounting panel are connected, be equipped with on the second ball screw with second ball screw cooperatees the second nut that uses, the second nut is connected with corresponding connecting plate, is equipped with the second slider on corresponding connecting plate, the second slider with set up along X axle direction second linear guide rail cooperation on the mounting panel uses.
4. The puncture positioning device of claim 1, wherein: the first connecting seat is rotationally connected with the multi-degree-of-freedom platform through a first connecting piece, and the first connecting seat has the following implementation structure: the first connecting seat is rotatably connected with the rotating shaft, and the rotating shaft is hinged with the multi-degree-of-freedom platform through the hinge supporting seat.
5. The puncture positioning device according to claim 1, wherein: the second connecting seat is rotatably connected with the multi-degree-of-freedom platform through a second connecting piece, and the structure is as follows: the second connecting seat is rotatably connected with the multi-degree-of-freedom platform through a cross universal shaft.
6. The puncture positioning device of claim 1, wherein: the puncture needle guide device is a guide piece with a guide hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222017500.9U CN218651957U (en) | 2022-08-02 | 2022-08-02 | Puncture positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222017500.9U CN218651957U (en) | 2022-08-02 | 2022-08-02 | Puncture positioning device |
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| Publication Number | Publication Date |
|---|---|
| CN218651957U true CN218651957U (en) | 2023-03-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222017500.9U Active CN218651957U (en) | 2022-08-02 | 2022-08-02 | Puncture positioning device |
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| CN (1) | CN218651957U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117338435A (en) * | 2023-12-05 | 2024-01-05 | 真健康(广东横琴)医疗科技有限公司 | Electric end effector for robotic lancing operation and lancing robot |
-
2022
- 2022-08-02 CN CN202222017500.9U patent/CN218651957U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117338435A (en) * | 2023-12-05 | 2024-01-05 | 真健康(广东横琴)医疗科技有限公司 | Electric end effector for robotic lancing operation and lancing robot |
| CN117338435B (en) * | 2023-12-05 | 2024-02-06 | 真健康(广东横琴)医疗科技有限公司 | Electric end effector for robotic lancing operation and lancing robot |
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