CN102657548B - Reversing nuclear magnetic compatible puncture needle clamp - Google Patents
Reversing nuclear magnetic compatible puncture needle clamp Download PDFInfo
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- CN102657548B CN102657548B CN201210124205.1A CN201210124205A CN102657548B CN 102657548 B CN102657548 B CN 102657548B CN 201210124205 A CN201210124205 A CN 201210124205A CN 102657548 B CN102657548 B CN 102657548B
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- endoporus
- inner hole
- reversing
- end cap
- spring base
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Abstract
The invention discloses a reversing nuclear magnetic compatible puncture needle clamp which comprises a needle installing module, a reversing module and a frame module. The needle installing module comprises a rotary driving mechanism, wherein a rotating output end of the rotary driving mechanism is connected with an end cover, a nut is arranged in a lead screw inner hole and is in threaded connection with the lead screw inner hole, a cylindrical casing is sleeved on the lead screw, a plurality of conic grooves are arranged on the outer wall of the cylindrical casing at intervals along the axial direction and the circumferential direction, and a sliding block capable of being in slide match with a spline groove on a casing inner hole is arranged in the casing inner hole. The reversing module comprises the end cover and a spring seat tube which are sequentially and fixedly connected, wherein a releasing button with an inner hole arranged inside is inserted into an inner hole of the end cover and can be slidingly matched with the inner hole of the end cover, a pin seat is arranged in an inner hole of the spring seat tube, and a plurality of stop pins capable of being in inserting match with the conic grooves are arranged in the circumferential direction of the pin seat. The frame module comprises a reversing main body with an inner hole arranged inside, wherein the reversing main body and a base can be fixedly connected in different directions. The clamp improves accuracy of operations.
Description
Technical field
The present invention relates to medical instruments field, belong to the mechanical front subject intersecting with medical science, particularly relate to the acupuncture manipulator mechanism being applied under magnetic nuclear resonance environment.
Background technology
Current, the main method of carrying out breast, abdomen, pelvic cavity soft tissue local radiation treatment operation is Wicresoft's close-range particle radiotherapy.Operation process is implanted prostate and splanchnocoel soft tissue by acupuncture by radioactive particle, carries out local radiation treatment.And the acupuncture operation of conventionally manually carrying out, mostly to face low precision, cannot realtime imaging shortcoming; For the track of planning in advance, also may the stimulation for soft tissue because of the movement of patient body and acupuncture, and cannot realize the effect of expectation, and because the needling direction of breast, abdomen, pelvic cavity is different, comparatively loaded down with trivial details during operation conversion, adaptability is poor.By robot arm, assist or robot arm is realized the means of high accuracy acupuncture, can well address these problems.
NMR (Nuclear Magnetic Resonance)-imaging (MRI) is compared with traditional X ray, CT, can avoid the x x radiation x to healthy cell, and there are good soft tissue resolving power and precise geometrical to learn characteristic, can lean out more accurately lesion region, to guarantee rational track optimizing, and the judgement to lesion portion is more accurate, to guarantee to implant the positional precision of particle.Existing acupuncture mechanism has external screw nut driven, and Ci Zhong mechanism often size is large, and structure is not compact, is unfavorable for realizing modular requirement.
Summary of the invention
The object of the invention is to overcome the shortcoming of prior art, provide a kind of overcome imaging effect in operation process not in time with the drawback of trajectory planning difficulty, greatly the nuclear-magnetism compatible puncture needle fixture capable of reversing of the precision of the raising of degree operation.
Nuclear-magnetism compatible puncture needle fixture capable of reversing of the present invention, it comprises dress needle mould piece, inverting module and stand module, described dress needle mould piece comprises rotary drive mechanism, the rotation outfan of described rotary drive mechanism is connected with end cap, described end cap and the left end that has the cylindrical leading screw of endoporus on it are fixedly linked, a nut is arranged in described leading screw endoporus and is threaded with it, in the cylindrical housings that described leading screw overcoat has on its outer wall vertically and circumferentially interval has a plurality of cone tanks, between described leading screw and housing, be provided with ball, on housing endoporus after leading screw afterbody described in being positioned at, have spline, in described housing endoporus, be provided with the slide block that can be slidably matched with described spline, one needle guard is anterior and nut is fixedly linked and rear portion and the slide block of needle guard are fixedly linked, in described needle guard, be fixed with operation needle, described inverting module comprises end cap and the spring base cylinder that is fixedly linked successively and arranges, release-push that has endoporus in it is inserted in the endoporus of described end cap and can be slidably matched with it, between described release-push and the end face of end cap, returning spring is installed, in the endoporus of described spring base cylinder, be provided with key seat, on the circumferencial direction of described key seat, be provided with described cone tank and can plug together a plurality of latch that coordinate, a plurality of with the described latch spring base of corresponding setting is one by one installed on the endoporus sidewall of described spring base cylinder, at described latch with in the perforate of the spring base that correspondence arranges with it, retaining spring is housed, it between the outer wall of the front portion of described release-push and described latch, is wedge-like engagement, described stand module comprises the cylindrical commutation main body that has endoporus in it, the left and right sidewall of described commutation main body is connected with respectively dividing spindle, described dividing spindle can be connected with the angle of pedestal in different set by syndeton respectively, described housing is successively through the endoporus setting of release-push, end cap, spring base cylinder and commutation main body, and described spring base cylinder and its right end face of key seat are fixedly linked with commutation main body left end face.
Fixture of the present invention can have been assisted acupuncture operation in the nuclear magnetic resonance spectrometer confined space, flexible structure, overcome imaging effect in operation process not in time with the drawback of trajectory planning difficulty, the precision that greatly raising of degree is performed the operation, successful and the integrity of operation, thus for NMR (Nuclear Magnetic Resonance)-imaging (MRI) guided robot assisted minimally invasive surgical operation, opened up new approach.First, a series of cone tanks of axial distribution on dress pin module housing, can regulate dress needle mould piece at the particular location of inverting module like this, are convenient to adapt to dissimilar puncture hands art; Secondly, due to the existence of latch on inverting module, dress needle mould piece can be realized quick-clamping, and circumferentially uniform three of latch, can automatic centering, release-push can make to fill needle mould packaged get convenient; Finally, dividing spindle and uniform place kick in stand module, due to the location that the effect of spring can realize diverse location, conveniently carry out such as prostate radiation therapy the operation of the different directions such as breast, abdominal paracentesis treatment.Because integral body adopts modularized design, this fixture can be arranged on any existing nuclear magnetic resonance, NMR compatible machine people, improves operation efficiency.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of nuclear-magnetism compatible puncture needle fixture capable of reversing of the present invention;
Fig. 2 is the structural representation of the dress needle mould piece in the fixture shown in Fig. 1;
Fig. 3 is that the A of the dress needle mould piece shown in Fig. 2 is to schematic diagram;
Fig. 4 is the structural representation of the inverting module in the fixture shown in Fig. 1;
Fig. 5 is the front view of the stand module in the fixture shown in Fig. 1;
Fig. 6 is the top view of the stand module shown in Fig. 5;
Fig. 7 is that the A-A of the stand module shown in Fig. 5 is to view.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Nuclear-magnetism compatible puncture needle fixture capable of reversing of the present invention as shown in drawings, it comprises dress needle mould piece, inverting module and stand module, described dress needle mould piece comprises rotary drive mechanism, the rotation outfan of described rotary drive mechanism is connected with end cap 2, described end cap and the left end that has the cylindrical leading screw 4 of endoporus on it are fixedly linked, a nut 19 is arranged in described leading screw endoporus and is threaded with it, at described leading screw overcoat, there is interval on its outer wall to have the cylindrical housings 3 of a plurality of cone tanks, between described leading screw and housing, be provided with ball, on housing endoporus after leading screw afterbody described in being positioned at, have spline, in described housing endoporus, be provided with the slide block 12 that can be slidably matched with described spline, one needle guard 11 is anterior and nut is fixedly linked and rear portion and the slide block of needle guard are fixedly linked, in described needle guard, be fixed with operation needle 1, described inverting module comprises end cap 7 and the spring base cylinder 16 that is fixedly linked successively and arranges, release-push 5 that has endoporus in it is inserted in the endoporus of described end cap and can be slidably matched with it, between described release-push and the end face of end cap, returning spring 6 is installed, in the endoporus of described spring base cylinder, be provided with key seat 8, on the circumferencial direction of described key seat, be provided with described cone tank and can plug together a plurality of latch 18 that coordinate, a plurality of with the described latch spring base 9 of corresponding setting is one by one installed on the endoporus sidewall of described spring base cylinder, at described latch with in the perforate of the spring base that correspondence arranges with it, retaining spring 17 is housed, between the outer wall of the front portion of described release-push and described latch 18 for wedge-like engagement so that described latch radially move, described stand module comprises the cylindrical commutation main body 10 that has endoporus in it, the left and right sidewall of described commutation main body is connected with respectively dividing spindle 14, described dividing spindle can be connected with the angle of pedestal in different set by syndeton respectively, described housing is successively through the endoporus setting of release-push, end cap, spring base cylinder and commutation main body, and described spring base cylinder and its right end face of key seat are fixedly linked with the left end face of commutation main body.
Preferred described rotary drive mechanism comprises motor, and described motor shaft is fixedly linked by existing ball chain drive structure and described end cap.Whole mechanism is in operation process owing to being subject to the effect of the power of tissue that micro-deformation occurs, and ball chain can play micro-compensation deflection and the effect of moving displacement.
Described syndeton can comprise a plurality of locating holes that are arranged on dividing spindle circumferencial direction, is disposed with from bottom to up location ball and spring in the locating hole described in each, and bolt is connected with described locating hole threaded engagement through described spring.Preferred place kick 13 is 6 and is circumferentially uniformly distributed along dividing spindle.
Preferred latch is three and circumferentially uniform along key seat.
In conjunction with each width figure, the present invention is described in detail more below:
In Fig. 2-3, operation needle 1, nut 19, needle guard 11, slide block 12 connects firmly together, between leading screw 4 and nut 19, it is threaded engagement, motor by the transmission of ball chain, drives end cap 2 rotations, between end cap 2 and leading screw 4, for ease of installing preferably, by pin, is connected, leading screw 4 rotates thereupon, due to housing 3, between slide block 12, be spline fitted, therefore not rotatable, motion just changes into acupuncture campaign by the rotation of motor like this, in addition, for reducing friction, housing 3, between leading screw 4, have a series of beads, its whole matching relationship and linear bearing are similar.
In Fig. 4, release-push 5 being turned right and pushed away, is wedge-like engagement between release-push 5 and latch 18, thereby latch 18 is moved down, and now dress needle mould piece can be inserted or takes out, and spring 6 plays reset role with spring 17.Wherein spring base 9, retaining spring 17, and latch 18, key seat 8 is preferably uniformly distributed circumferentially, and can be three.
In Fig. 5-7, dividing spindle 14, commutation main body 10 can be passed through key connecting, can rotate around support 15, and place kick 13 can be uniformly distributed circumferentially, and arranges as required, as 6, can realize 10 3 location positioning of commutation main body, thereby realize, transforms direction.
After filling in Fig. 1 that needle mould is packaged and preparing, can directly insert among inverting module, wherein fill needle mould piece housing shaft to there being cone tank, the quantity of cone tank arranges as required, as being 4 or 5, is used for adjusting the axial initial position of dress needle mould piece.
Carry out in pelvic cavity puncture operation inverting module horizontal positioned; During splanchnocoel operation, rotate inverting module, make it straight down.
Claims (5)
1. nuclear-magnetism compatible puncture needle fixture capable of reversing, it is characterized in that: it comprises dress needle mould piece, inverting module and stand module, described dress needle mould piece comprises rotary drive mechanism, the rotation outfan of described rotary drive mechanism is connected with end cap, described end cap and the left end that has the cylindrical leading screw of endoporus on it are fixedly linked, a nut is arranged in described leading screw endoporus and is threaded with it, in the cylindrical housings that described leading screw overcoat has on its outer wall vertically and circumferentially interval has a plurality of cone tanks, between described leading screw and housing, be provided with ball, on housing endoporus after leading screw afterbody described in being positioned at, have spline, in described housing endoporus, be provided with the slide block that can be slidably matched with described spline, one needle guard is anterior and nut is fixedly linked and rear portion and the slide block of needle guard are fixedly linked, in described needle guard, be fixed with operation needle, described inverting module comprises end cap and the spring base cylinder that is fixedly linked successively and arranges, release-push that has endoporus in it is inserted in the endoporus of described end cap and can be slidably matched with it, between described release-push and the end face of end cap, returning spring is installed, in the endoporus of described spring base cylinder, be provided with key seat, on the circumferencial direction of described key seat, be provided with described cone tank and can plug together a plurality of latch that coordinate, a plurality of with the described latch spring base of corresponding setting is one by one installed on the endoporus sidewall of described spring base cylinder, at described latch with in the perforate of the spring base that correspondence arranges with it, retaining spring is housed, it between the outer wall of the front portion of described release-push and described latch, is wedge-like engagement, described stand module comprises the cylindrical commutation main body that has endoporus in it, the left and right sidewall of described commutation main body is connected with respectively dividing spindle, described dividing spindle can be connected with the angle of pedestal in different set by syndeton respectively, described housing is successively through the endoporus setting of release-push, end cap, spring base cylinder and commutation main body, and described spring base cylinder and its right end face of key seat are fixedly linked with commutation main body left end face.
2. nuclear-magnetism compatible puncture needle fixture capable of reversing according to claim 1, is characterized in that: described rotary drive mechanism comprises motor, and motor shaft is fixedly linked by ball chain drive structure and described end cap.
3. nuclear-magnetism compatible puncture needle fixture capable of reversing according to claim 1, it is characterized in that: described syndeton comprises a plurality of locating holes that are arranged on dividing spindle circumferencial direction, in locating hole described in each, be disposed with from bottom to up location ball and spring, bolt is connected with described locating hole threaded engagement through described spring.
4. nuclear-magnetism compatible puncture needle fixture capable of reversing according to claim 3, is characterized in that: described place kick is 6 and is circumferentially uniformly distributed along dividing spindle.
5. nuclear-magnetism compatible puncture needle fixture capable of reversing according to claim 4, is characterized in that: described latch is three and circumferentially uniform along key seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210124205.1A CN102657548B (en) | 2012-04-25 | 2012-04-25 | Reversing nuclear magnetic compatible puncture needle clamp |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210124205.1A CN102657548B (en) | 2012-04-25 | 2012-04-25 | Reversing nuclear magnetic compatible puncture needle clamp |
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| CN102657548A CN102657548A (en) | 2012-09-12 |
| CN102657548B true CN102657548B (en) | 2014-04-02 |
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| CN201210124205.1A Expired - Fee Related CN102657548B (en) | 2012-04-25 | 2012-04-25 | Reversing nuclear magnetic compatible puncture needle clamp |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103083091B (en) * | 2013-01-28 | 2014-11-26 | 哈尔滨工业大学 | Inclined angle flexible needle robot auxiliary puncture system based on piezoelectric actuation |
| CN103340685A (en) * | 2013-06-27 | 2013-10-09 | 苏州边枫电子科技有限公司 | Auxiliary needle feeding device of pneumatic type puncture needle |
| CN103417303B (en) * | 2013-08-16 | 2016-01-20 | 天津大学 | Based on the nuclear magnetism compatibility surgical robot of silk transmission |
| CN103876786B (en) * | 2014-04-13 | 2015-11-04 | 哈尔滨理工大学 | Robot is got involved with the mammary gland of nuclear magnetic resonance, NMR compatibility |
| CN110548218B (en) * | 2019-08-29 | 2021-12-07 | 珠海横乐医学科技有限公司 | Puncture robot for implanting radioactive seeds |
| CN110464979B (en) * | 2019-09-02 | 2021-05-07 | 江苏工大博实医用机器人研究发展有限公司 | Feeding mechanism of particle implantation device |
Citations (5)
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| CN1709205A (en) * | 2004-06-17 | 2005-12-21 | 冯威健 | Image tomograph puncture, biopsy and injection guide device |
| US7137969B1 (en) * | 1999-09-09 | 2006-11-21 | Queen Elizabeth Ii, Health Sciences Centre | Neural transplantation delivery system |
| CN1939234A (en) * | 2005-09-28 | 2007-04-04 | 张惠玲 | Puncture guiding method and manual puncture guider |
| US7621934B2 (en) * | 2005-09-30 | 2009-11-24 | Restoration Robotics, Inc | Methods of harvesting and implanting follicular units using a coaxial tool |
| CN102113905A (en) * | 2011-01-25 | 2011-07-06 | 天津大学 | Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9114252B2 (en) * | 2005-12-02 | 2015-08-25 | University Of Rochester | Image-guided therapy delivery and diagnostic needle system |
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2012
- 2012-04-25 CN CN201210124205.1A patent/CN102657548B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7137969B1 (en) * | 1999-09-09 | 2006-11-21 | Queen Elizabeth Ii, Health Sciences Centre | Neural transplantation delivery system |
| CN1709205A (en) * | 2004-06-17 | 2005-12-21 | 冯威健 | Image tomograph puncture, biopsy and injection guide device |
| CN1939234A (en) * | 2005-09-28 | 2007-04-04 | 张惠玲 | Puncture guiding method and manual puncture guider |
| US7621934B2 (en) * | 2005-09-30 | 2009-11-24 | Restoration Robotics, Inc | Methods of harvesting and implanting follicular units using a coaxial tool |
| CN102113905A (en) * | 2011-01-25 | 2011-07-06 | 天津大学 | Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment |
Non-Patent Citations (1)
| Title |
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| 姜杉，杨志永，李佳.医用机器人研究、应用与发展.《机床与液压》.2005,(第5期),1-5. * |
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| CN102657548A (en) | 2012-09-12 |
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