CN102657548A - Reversing nuclear magnetic compatible puncture needle clamp - Google Patents
Reversing nuclear magnetic compatible puncture needle clamp Download PDFInfo
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- CN102657548A CN102657548A CN2012101242051A CN201210124205A CN102657548A CN 102657548 A CN102657548 A CN 102657548A CN 2012101242051 A CN2012101242051 A CN 2012101242051A CN 201210124205 A CN201210124205 A CN 201210124205A CN 102657548 A CN102657548 A CN 102657548A
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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 that intersects with medical science, particularly relate to the acupuncture manipulator mechanism that is applied under the magnetic nuclear resonance environment.
Background technology
Current, the main method of carrying out breast, abdomen, the local radiotherapy operation of pelvic cavity soft tissue is closely corpuscular radiation treatment of Wicresoft.Operation process is implanted prostate and splanchnocoel soft tissue through acupuncture with radioactive particle, carries out local radiotherapy.And the acupuncture of usually manually carrying out operation, to face mostly low precision, can't realtime imaging shortcoming; For the track of planning in advance, also may be because of the moving and the stimulation of acupuncture of patient body for soft tissue, and can't realize the effect estimated, and because the needling direction of breast, abdomen, pelvic cavity is different, comparatively loaded down with trivial details during the operation conversion, adaptability is relatively poor.Means through the acupuncture of the auxiliary perhaps robot arm of robot arm realization high accuracy can well address these problems.
NMR-imaging (MRI) is compared with traditional X ray, CT; Can avoid x x radiation x to healthy cell; And there are good soft tissue resolving power and precise geometrical to learn characteristic, can lean out lesion region more accurately, to guarantee rational track optimizing; And the judgement to lesion portion is more accurate, to guarantee to implant the particle position precision.Existing acupuncture mechanism has external feed screw nut transmission, and this kind mechanism often size is big, and structure is not compact, is unfavorable for realizing modular requirement.
Summary of the invention
The objective of the invention is to overcome the shortcoming of prior art, a kind of the overcome untimely drawback difficult with trajectory planning of imaging effect, greatly the nuclear-magnetism compatible puncture needle anchor clamps capable of reversing of the precision of the raising of degree operation in the operation process are provided.
Nuclear-magnetism compatible puncture needle anchor clamps 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 links to each other with end cap, and described end cap and the left end that has the cylindrical leading screw of endoporus on it are fixedly linked, and a nut is arranged in the described leading screw endoporus and is threaded with it; Outside described leading screw, be with and reach the cylindrical housings that circumferential interval has a plurality of cone tanks on its outer wall vertically; Between described leading screw and housing, be provided with ball, on the housing endoporus that is positioned at described leading screw afterbody back, have spline, in described housing endoporus, be provided with the slide block that can be slidingly matched with described spline; One needle guard is anterior and nut is fixedly linked and the rear portion and the slide block of needle guard are fixedly linked, and at described needle guard internal fixation operation needle is arranged; Described inverting module comprises end cap and the spring base tube that is fixedly linked successively and is provided with; Release-push that has endoporus in it is inserted in the endoporus of described end cap and can be slidingly matched with it; Between the end face of described release-push and end cap, returning spring is installed; In the endoporus of described spring base tube, be provided with key seat; The circumferencial direction of described key seat is provided with described cone tank can plug together a plurality of latch that cooperate; The spring base of the corresponding one by one setting of a plurality of and described latch being installed on the endoporus sidewall of described spring base tube, in the perforate of described latch and the corresponding with it spring base that is provided with, retaining spring being housed, is wedge-like engagement between the front portion of described release-push and the outer wall of described latch; Described stand module comprises the cylindrical switching-over main body that has endoporus in it; The left and right sidewall of described switching-over main body is connected with dividing spindle respectively; Described dividing spindle can link to each other with the angle of pedestal in different set through syndeton respectively; Described housing passes the endoporus setting of release-push, end cap, spring base tube and switching-over main body successively, and its right end face of described spring base tube and key seat is fixedly linked with switching-over main body left end face.
Anchor clamps of the present invention can be assisted in the nuclear magnetic resonance spectrometer confined space and accomplished the acupuncture operation; Structure is flexible; Overcome the untimely drawback difficult of imaging effect in the operation process with trajectory planning; The very big precision of the raising of degree operation, the successful property and the integrity of operation, thus opened up new approach for NMR-imaging (MRI) guided robot assisted minimally invasive surgical operation.At first, a series of cone tanks of axial distribution on dress needle mould piece housing can be regulated the particular location of dress needle mould piece at inverting module like this, are convenient to adapt to dissimilar puncture hands arts; Secondly, because the existence of latch on the inverting module, dress needle mould piece can be realized quick-clamping, and latch circumferentially is uniformly distributed with three, can automatic centering, release-push can make the dress needle mould packaged get convenient; At last, dividing spindle and the place kick that is uniformly distributed with on the stand module are because the operation of different directions such as breast, abdominal paracentesis treatment is conveniently carried out such as prostate radiation therapy in the location that the effect of spring can realize diverse location.Because whole employing modularized design, these anchor clamps can be installed on any existing nuclear magnetic resonance, NMR compatible machine people, improve operation efficient.
Description of drawings
Fig. 1 is the overall structure sketch map of nuclear-magnetism compatible puncture needle anchor clamps capable of reversing of the present invention;
Fig. 2 is the structural representation of the dress needle mould piece in the anchor clamps shown in Figure 1;
Fig. 3 is that the A of dress needle mould piece shown in Figure 2 is to sketch map;
Fig. 4 is the structural representation of the inverting module in the anchor clamps shown in Figure 1;
Fig. 5 is the front view of the stand module in the anchor clamps shown in Figure 1;
Fig. 6 is the vertical view of stand module shown in Figure 5;
Fig. 7 is that the A-A of stand module shown in Figure 5 is to view.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is done to describe in detail.
Nuclear-magnetism compatible puncture needle anchor clamps capable of reversing of the present invention shown in accompanying drawing; 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 links to each other with end cap 2, and described end cap and the left end that has the cylindrical leading screw 4 of endoporus on it are fixedly linked, and a nut 19 is arranged in the described leading screw endoporus and is threaded with it; Outside described leading screw, be with the cylindrical housings 3 that has a plurality of cone tanks on its outer wall at interval; Between described leading screw and housing, be provided with ball, on the housing endoporus that is positioned at described leading screw afterbody back, have spline, in described housing endoporus, be provided with the slide block 12 that can be slidingly matched with described spline; Needle guard 11 is anterior to be fixedly linked with nut and the rear portion and the slide block of needle guard are fixedly linked, and at described needle guard internal fixation operation needle 1 is arranged; Described inverting module comprises end cap 7 and the spring base tube 16 that is fixedly linked successively and is provided with; Release-push 5 that has endoporus in it is inserted in the endoporus of described end cap and can be slidingly matched with it; Returning spring 6 is installed between the end face of described release-push and end cap; In the endoporus of described spring base tube, be provided with key seat 8; The circumferencial direction of described key seat is provided with described cone tank can plug together a plurality of latch 18 that cooperate; The spring base 9 of the corresponding one by one setting of a plurality of and described latch being installed on the endoporus sidewall of described spring base tube, in the perforate of described latch and the corresponding with it spring base that is provided with, retaining spring 17 being housed, is wedge-like engagement between the outer wall of the front portion of described release-push and described latch 18 so that described latch radially moves; Described stand module comprises the cylindrical switching-over main body 10 that has endoporus in it; The left and right sidewall of described switching-over main body is connected with dividing spindle 14 respectively; Described dividing spindle can link to each other with the angle of pedestal in different set through syndeton respectively; Described housing passes the endoporus setting of release-push, end cap, spring base tube and switching-over main body successively, and its right end face of described spring base tube and key seat is fixedly linked with the left end face of switching-over main body.
Preferred described rotary drive mechanism comprises motor, and described motor shaft is fixedly linked through existing ball chain drive structure and described end cap.When entire mechanism owing to the effect of the power that receives tissue micro-deformation took place in operation process, the ball chain can play the compensation deflection of trace and the effect of moving displacement.
Described syndeton can comprise a plurality of locating holes that are arranged on the dividing spindle circumferencial direction, in each described locating hole, is disposed with the location ball and spring from bottom to up, and bolt passes described spring and links to each other with described locating hole threaded engagement.Preferred place kick 13 is 6 and along the circumferential uniform distribution of dividing spindle.
Preferred latch is three and circumferentially is uniformly distributed with along key seat.
Combine each width of cloth figure that the present invention is specified below again:
Among Fig. 2-3, operation needle 1, nut 19, needle guard 11; Slide block 12 connects firmly together, is threaded engagement between leading screw 4 and the nut 19, and motor drives end cap 2 rotations through the transmission of ball chain; Be connected through pin for ease of installing preferably between end cap 2 and the leading screw 4, leading screw 4 rotates thereupon, because housing 3 is spline fitted between the slide block 12; So not rotatable, motion just changes into the acupuncture campaign by the rotation of motor like this, in addition, for reducing friction; Housing 3 has a series of beads between the leading screw 4, its whole matching relationship and linear bearing are similar.
Among Fig. 4 release-push 5 being turned right pushes away, and is wedge-like engagement between release-push 5 and the latch 18, thereby latch 18 is moved down, and can insert dress needle mould piece or take out, spring 6 and 17 reset responses of spring this moment.Wherein spring base 9, retaining spring 17, and latch 18, key seat 8 is preferred along circumferential uniform distribution, can be three.
Among Fig. 5-7, dividing spindle 14, switching-over main body 10 can be passed through key connecting, can rotate around support 15, and place kick 13 can be provided with along circumferential uniform distribution as required, as 6, can realize 10 3 location positioning of switching-over main body, thereby realize transforming direction.
Among Fig. 1 dress needle mould is packaged prepare after, can directly insert among the inverting module, wherein adorn needle mould piece housing shaft to cone tank is arranged, the quantity of cone tank is provided with as required, as being 4 or 5, is used for the axial initial position of adjustment dress needle mould piece.
Carry out in the pelvic cavity puncture operation inverting module horizontal positioned; During the splanchnocoel operation, then rotate inverting module, make it straight down.
Claims (5)
1. nuclear-magnetism compatible puncture needle anchor clamps 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 links to each other with end cap, and described end cap and the left end that has the cylindrical leading screw of endoporus on it are fixedly linked, and a nut is arranged in the described leading screw endoporus and is threaded with it; Outside described leading screw, be with and reach the cylindrical housings that circumferential interval has a plurality of cone tanks on its outer wall vertically; Between described leading screw and housing, be provided with ball, on the housing endoporus that is positioned at described leading screw afterbody back, have spline, in described housing endoporus, be provided with the slide block that can be slidingly matched with described spline; One needle guard is anterior and nut is fixedly linked and the rear portion and the slide block of needle guard are fixedly linked, and at described needle guard internal fixation operation needle is arranged; Described inverting module comprises end cap and the spring base tube that is fixedly linked successively and is provided with; Release-push that has endoporus in it is inserted in the endoporus of described end cap and can be slidingly matched with it; Between the end face of described release-push and end cap, returning spring is installed; In the endoporus of described spring base tube, be provided with key seat; The circumferencial direction of described key seat is provided with described cone tank can plug together a plurality of latch that cooperate; The spring base of the corresponding one by one setting of a plurality of and described latch being installed on the endoporus sidewall of described spring base tube, in the perforate of described latch and the corresponding with it spring base that is provided with, retaining spring being housed, is wedge-like engagement between the front portion of described release-push and the outer wall of described latch; Described stand module comprises the cylindrical switching-over main body that has endoporus in it; The left and right sidewall of described switching-over main body is connected with dividing spindle respectively; Described dividing spindle can link to each other with the angle of pedestal in different set through syndeton respectively; Described housing passes the endoporus setting of release-push, end cap, spring base tube and switching-over main body successively, and its right end face of described spring base tube and key seat is fixedly linked with switching-over main body left end face.
2. nuclear-magnetism compatible puncture needle anchor clamps capable of reversing according to claim 1, it is characterized in that: described rotary drive mechanism comprises motor, described motor shaft is fixedly linked through ball chain drive structure and described end cap.
3. nuclear-magnetism compatible puncture needle anchor clamps capable of reversing according to claim 1; It is characterized in that: described syndeton comprises a plurality of locating holes that are arranged on the dividing spindle circumferencial direction; In each described locating hole, be disposed with the location ball and spring from bottom to up, bolt passes described spring and links to each other with described locating hole threaded engagement.
4. nuclear-magnetism compatible puncture needle anchor clamps capable of reversing according to claim 3 is characterized in that: described place kick is 6 and along the circumferential uniform distribution of dividing spindle.
5. nuclear-magnetism compatible puncture needle anchor clamps capable of reversing according to claim 4 is characterized in that: described preferred latch is three and circumferentially is uniformly distributed with 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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
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| CN102657548A true CN102657548A (en) | 2012-09-12 |
| CN102657548B CN102657548B (en) | 2014-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
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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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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103083091A (en) * | 2013-01-28 | 2013-05-08 | 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 |
| CN103417303A (en) * | 2013-08-16 | 2013-12-04 | 天津大学 | Nuclear magnetism compatibility surgical robot based on screw drive |
| CN103876786A (en) * | 2014-04-13 | 2014-06-25 | 哈尔滨理工大学 | Mammary gland intervening robot compatible with nuclear magnetic resonance |
| CN110464979A (en) * | 2019-09-02 | 2019-11-19 | 江苏工大博实医用机器人研究发展有限公司 | A kind of feeding machanism of seeds implanted device |
| CN110548218A (en) * | 2019-08-29 | 2019-12-10 | 中国科学院深圳先进技术研究院 | Puncture robot for implanting radioactive seeds |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103083091A (en) * | 2013-01-28 | 2013-05-08 | 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 |
| CN103417303A (en) * | 2013-08-16 | 2013-12-04 | 天津大学 | Nuclear magnetism compatibility surgical robot based on screw drive |
| CN103417303B (en) * | 2013-08-16 | 2016-01-20 | 天津大学 | Based on the nuclear magnetism compatibility surgical robot of silk transmission |
| CN103876786A (en) * | 2014-04-13 | 2014-06-25 | 哈尔滨理工大学 | Mammary gland intervening robot compatible with nuclear magnetic resonance |
| 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 |
| CN110548218A (en) * | 2019-08-29 | 2019-12-10 | 中国科学院深圳先进技术研究院 | Puncture robot for implanting radioactive seeds |
| CN110464979A (en) * | 2019-09-02 | 2019-11-19 | 江苏工大博实医用机器人研究发展有限公司 | A kind of feeding machanism of seeds implanted device |
| 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 |
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| CN102657548B (en) | 2014-04-02 |
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