CN102113904B - Manipulator puncture system for percutaneous renal operation - Google Patents
Manipulator puncture system for percutaneous renal operation Download PDFInfo
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- CN102113904B CN102113904B CN 201010588200 CN201010588200A CN102113904B CN 102113904 B CN102113904 B CN 102113904B CN 201010588200 CN201010588200 CN 201010588200 CN 201010588200 A CN201010588200 A CN 201010588200A CN 102113904 B CN102113904 B CN 102113904B
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- puncture
- movable joint
- needle
- controlled
- propeller
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- 210000003734 kidney Anatomy 0.000 claims abstract description 17
- 238000001356 surgical procedure Methods 0.000 claims description 11
- 230000008685 targeting Effects 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 12
- 244000309464 bull Species 0.000 description 5
- 238000002594 fluoroscopy Methods 0.000 description 5
- 230000001954 sterilising effect Effects 0.000 description 3
- 238000004659 sterilization and disinfection Methods 0.000 description 3
- 208000032843 Hemorrhage Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000003601 intercostal effect Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 241000834287 Cookeolus japonicus Species 0.000 description 1
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 229920005479 Lucite® Polymers 0.000 description 1
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000002421 anti-septic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000002872 contrast media Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000004926 polymethyl methacrylate Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000011780 sodium chloride Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
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Abstract
The invention relates to a manipulator puncture system for a percutaneous renal operation. The system comprises a manipulator puncture frame, a C arm X ray apparatus with a laser pointer and computer-controlled remote control equipment, wherein the manipulator puncture frame is provided with two movable joints and a propeller; the top of a main column of the manipulator puncture frame is connected with a needle holding plate through a movable joint 1; when the main column is fixed beside an operating bed, the needle holding plate is perpendicular to the operating bed through the movable joint1; when puncture is ready, the needle holding plate is required to be placed at a certain angle and locked through manual adjustment and control; the bottom of the main column is connected with a bottom frame through a movable joint 2 which is controlled by a servo motor; the needle holding plate swings backward and forward at the angle of between 0 and 5 degrees centered on the needle holding plate swinging at a certain angle by using the movable joint 2; and the main column is provided with the propeller which is controlled by the servo motor, and the maximum propelling space is 20cm and the speed is 8 meter/minute. An operator can completely avoid X ray exposure and accurately insert a puncture needle into a collection system through a fornix part of kidney in real time.
Description
Technical field
The invention belongs to the armarium technical field, relate to and a kind of the cooperation by the telemanipulator carry out in real time the accurately percutaneous kidney surgery mechanical hands lancing system of puncture under the exposure of C arm X-ray.
Background technology
The operation of percutaneous kidney remains the important method of intracavity urological surgery at present, is also the most difficult grasp and comparatively complicated operation.In the operation of percutaneous kidney, piercing method is the key of operation.At present, the most frequently used guiding puncture is to adopt C arm x-ray fluoroscopy, and when puncturing under C arm x-ray fluoroscopy, the patient often needs to accept the exposure of more lonizing radiation, and this is to hinder the maximum stumbling-block that the operation of percutaneous kidney is extensively promoted.
Be subject to the direct exposure of x-ray in order to reduce body part, the urologist has designed many methods, as the method for carrying out percutaneous renal puncture under C arm x-ray fluoroscopy, many kinds are arranged, bull's-eye configuration piercing method (bulleye technique) is in the most popular method of American-European countries, the puncture accuracy rate is quite high, the maximum but hand and health directly expose; Domestic most employing triangle Europe thigh method Indirect exposure puncture now, but the puncture accuracy rate is low, and the spininess that often need puncture could success.
Therefore, if design the both hands that a mechanical hand replaces operator, puncture in real time under X-ray exposes, this will both protect operator, can make again the technology of puncture improve widely a step, make the operation of percutaneous kidney more perfect, and can more successfully promote.
Summary of the invention
In order to overcome the above-mentioned shortcoming of prior art, the invention provides a kind of exposure that can make the patient avoid X ray fully, can monitor in real time puncture needle in the whole process of percutaneous renal puncture, greatly improve puncture success rate, and lower the percutaneous kidney surgery mechanical hands lancing system that percutaneous renal puncture causes hemorrhage complication.
The technical solution adopted for the present invention to solve the technical problems is: a kind of percutaneous kidney surgery mechanical hands lancing system, the remote control equipment that comprises the mechanical hand puncture supporter, controls with the C arm X-ray machine of laser designation and computer, the mechanical hand puncture supporter is provided with propeller of two places movable joint, be connected with by movable joint one at the principal post top of mechanical hand puncture supporter and hold needle plate, when principal post is fixed in the operation bedside, utilize this movable joint one to make to hold needle plate and the operation table relation that meets at right angles, when preparing puncture, need artificial regulatory to put certain angle and locking; Link with underframe by the movable joint two of being controlled by a servomotor in principal post bottom, utilize movable joint two to swing the holding centered by needle plate of certain angle, hold needle plate swing 0-5 degree; The propeller of being controlled by servomotor is installed on principal post, and it advances line-spacing to be 20cm to the maximum, and speed can reach 8 meters per minute, or vernier control 0.1cm/ per second or be controlled in the speed that needs inserting needle.
The universal wheel that facilitates diverse location to use is housed in the bottom of described underframe.
Described C arm X-ray machine with laser designation has the laser generator that is contained on booster, visual laser line and C arm X-ray emitter mid point on line by the laser generator emission, it is adjusted to by the targeting renal calices, just can indicates the targeting of puncture needle, help puncture needle to locate.
When preparing puncture, the angle that needs artificial regulatory to put is about counterclockwise rotation direction 30 degree, and locking.
Described propeller and movable joint two are all to adopt the driven by servomotor controlled by computer and remote control unit.
The invention has the beneficial effects as follows: the one, make in the piercing process of PCN art, the patient avoids the x-ray exposure fully; The 2nd, the patient can enter gathering system through the poor grand section of kidney with puncture needle in real time exactly under the x-ray exposure that continues, reduce the number of times of puncture, reduces the hemorrhage complication of PCN art; The 3rd, utilize the equipment of invention will promote widely the development that China's percutaneous kidney is performed the operation.
Description of drawings
Fig. 1 is structure block diagram of the present invention.
Fig. 2 is the structural representation of mechanical hand puncture supporter of the present invention.
Fig. 3 is the structure block diagram of the C arm X-ray machine with laser designation of the present invention.
In figure: 1-mechanical hand puncture supporter, 2-remote control equipment, 3-hold needle plate, 5-principal post, 6-propeller, 7-movable joint two, 8-computer, 9-underframe, 10-universal wheel, 11-laser generator, 12--puncture needle, 13-visual laser line, 14-booster, 15-movable joint one with C arm X-ray machine, the 4-of laser designation.
The specific embodiment
The present invention is further described below in conjunction with drawings and Examples.
referring to Fig. 1 to Fig. 3, a kind of percutaneous kidney surgery mechanical hands lancing system, comprise mechanical hand puncture supporter 1, with the C arm X-ray machine 3 of laser designation and the remote control equipment 2 of computer 8 controls, be provided with propeller of two places movable joint on mechanical hand puncture supporter 1, be connected with by movable joint 1 at principal post 5 tops of mechanical hand puncture supporter 1 and hold needle plate 4, when principal post 5 is fixed in the operation bedside, utilize this movable joint 1 to make to hold needle plate 4 and the operation table relation that meets at right angles, when preparing puncture, need artificial regulatory to put certain angle and locking, as about counterclockwise rotation direction 30 degree, link with underframe 9 by the movable joint 27 of being controlled by a servomotor in principal post 5 bottoms, utilize movable joint 27 to put the holding centered by needle plate 4 of certain angle, hold needle plate 4 swing 0-5 degree, its angle fine setting can reach 0.1 degree, the propeller 6 of being controlled by servomotor is installed on principal post 5, and the propelling line-spacing of propeller 6 is 20cm to the maximum, and speed can reach 8 meters of per minutes, also fine-tuning control 0.1cm/ per second or be controlled in the speed that needs inserting needle, the universal wheel that facilitates diverse location to use is housed in the bottom of underframe simultaneously.Described propeller 6 and movable joint 27 are all to adopt the driven by servomotor controlled by computer 8 and remote control unit 2, and movable joint 1 is different from according to everyone seat height situation manual adjustments.
On the booster 14 of described C arm X-ray machine 3 with laser designation, laser generator 11 is housed, by the visual laser line 13 and C arm X-ray emitter mid point on line of laser generator 11 emissions, as is adjusted to by the targeting renal calices, nation helps the puncture needle location objectively; So, puncture direction that can dual definite puncture needle can reduce again the time of shaking control puncture supporter adjusting angle.
Mechanical hand puncture supporter 1 design single armed two movable joint one propeller x-ray fluoroscopy needle holders of the present invention, utilize movable joint 1 and movable joint 27 can regulate and control the running orbit of two angles, utilize the propeller of puncture needle that puncture needle is entered the targeting renal calices smoothly with different inserting needle speed; The design of mechanical hand puncture supporter 1 is because considering the angle of clinical patient's puncture, normal different and random larger from patient's practical situation, add the location of puncture needle skin, be at 11 intercostals or ten intercostals also or under rib, on midaxillary line or posterior axillary line, need the patient to determine in art and artificial location, first thrust puncture needle under skin, then single armed multi-joint x-ray fluoroscopy needle holder just regulates and controls under computer shakes control, makes its syringe needle and needle point and targeting renal calices connect being aligned; In addition, when the needle holder regulation and control reach bull's-eye configuration, how puncture needle is pressed set puncture circuit under C arm X-ray monitors, enter step by step the gathering system place and can arrive poor grand section, can strengthen inserting needle speed (imitating the action that operator stung gathering system) this moment and enter in gathering system smoothly under shaking control.
Be issued to bull's-eye configuration in order to make above-mentioned needle holder more successfully shake control at computer at short notice, the present invention also designs the laser aiming apparatus is installed on C arm X-ray machine, help the puncture direction of dual definite puncture needle, can reduce again the time of shaking control puncture supporter adjusting angle.
The robot that utilizes computer to control, the early stage angle that first solves the regulation and control needle holder makes it reach bull's-eye configuration, and under X-ray monitors accurate inserting needle stably; When having ready conditions, synchronous bolus administration of contrast agent and saline and control C arm X-ray machine when solving inserting needle.
Mechanical hand puncture supporter 1 adopts the materials such as aluminium alloy or rustless steel to be made, and can effectively improve rigidity and antiseptic power, and the puncture needle retaining device uses lucite, and energy is X-ray thoroughly, and global design is with high rigidity; Robot drives employing servo drive control unit makes velocity of displacement reach soon pivot angle accurate, and for guaranteeing that the operator is not affected by X-ray, this mechanical hand can use for convenience of diverse location in outdoor Long-distance Control, and universal wheel is equipped with in the bottom of underframe.
Use operating process of the present invention to be: first the patient to be placed on operation table, to set position (attached sleeping
The position), drape sterilization; The mechanical hand puncture supporter that will disinfect (or putting sterilization bag) is installed on the operation bedside, and what be positioned at the top holds needle plate (feasible high-temperature sterilization) together with buckling puncture needle, sets up principal post and pushes up, and be in vertical position with bedside this moment.Push C arm X-ray machine, first vertical exposure, then manual swing of patient held needle plate, and counterclockwise rotation direction is 30 degree approximately, puncture needle are positioned on the skin points of intending puncture; Cut skin with sharp knife, then C arm rotation direction patient 30 is spent, the patient leaves operating room to control station, continues under exposure at C arm X-ray, and regulation and control are held the needle plate angle and made backshank and needle point and the target renal calices formation bull's-eye configuration into a line that will penetrate, locking; The patient reenters operating-table, after checking puncture needle in the right direction, returns control station; Continue under exposure at C arm X-ray, shake in real time the control propeller puncture needle is entered collecting system; Complete piercing process.
Claims (5)
1. percutaneous kidney surgery mechanical hands lancing system, it is characterized in that: the remote control equipment that comprises the mechanical hand puncture supporter, controls with the C arm X-ray machine of laser designation and computer, the mechanical hand puncture supporter is provided with propeller of two places movable joint, be connected with by movable joint one at the principal post top of mechanical hand puncture supporter and hold needle plate, when principal post is fixed in the operation bedside, utilize this movable joint one to make to hold needle plate and the operation table relation that meets at right angles, when preparing puncture, need artificial regulatory to put certain angle and locking; Link with underframe by the movable joint two of being controlled by a servomotor in principal post bottom, utilize movable joint two to swing the holding centered by needle plate of certain angle, hold needle plate swing 0-5 degree; The propeller of being controlled by servomotor is installed on principal post, and it advances line-spacing to be 20cm to the maximum, and speed is 8 meters per minute, or vernier control 0.1cm/ per second or be controlled in the speed that needs inserting needle.
2. percutaneous kidney surgery mechanical hands lancing system as claimed in claim 1, is characterized in that: the universal wheel that facilitates diverse location to use is housed in the bottom of described underframe.
3. percutaneous kidney surgery mechanical hands lancing system as claimed in claim 1, it is characterized in that: described C arm X-ray machine with laser designation has the laser generator that is contained on booster, visual laser line and C arm X-ray emitter mid point on line by the laser generator emission, it is adjusted to by the targeting renal calices, just can indicate the targeting of puncture needle, help puncture needle to locate.
4. percutaneous kidney surgery mechanical hands lancing system as claimed in claim 1 is characterized in that: when preparing puncture, the angle that needs artificial regulatory to put is counterclockwise rotation direction 30 degree left and right, and locking.
5. percutaneous kidney surgery mechanical hands lancing system as claimed in claim 1 is characterized in that: described propeller and movable joint two are all to adopt the driven by servomotor controlled by computer and remote control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010588200 CN102113904B (en) | 2010-12-14 | 2010-12-14 | Manipulator puncture system for percutaneous renal operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010588200 CN102113904B (en) | 2010-12-14 | 2010-12-14 | Manipulator puncture system for percutaneous renal operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102113904A CN102113904A (en) | 2011-07-06 |
| CN102113904B true CN102113904B (en) | 2013-05-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010588200 Active CN102113904B (en) | 2010-12-14 | 2010-12-14 | Manipulator puncture system for percutaneous renal operation |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103399584B (en) * | 2013-08-07 | 2016-03-23 | 吴开俊 | A kind of control system for Long-distance Control medicine equipment and control method thereof |
| CN105596080A (en) * | 2016-02-25 | 2016-05-25 | 鑫麦源创时代医疗科技(苏州)有限公司 | Disposable composite ablation needle |
| CN110974416B (en) * | 2019-12-23 | 2021-02-19 | 武汉联影智融医疗科技有限公司 | Puncture parameter determination method, device, system, computer equipment and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4543091A (en) * | 1983-05-18 | 1985-09-24 | Edward C. Froning | X-ray marker device |
| US4750487A (en) * | 1986-11-24 | 1988-06-14 | Zanetti Paul H | Stereotactic frame |
| JP2000217811A (en) * | 1998-11-27 | 2000-08-08 | Rikuto:Kk | Medical puncturing implement |
| CN2808077Y (en) * | 2005-01-12 | 2006-08-23 | 吴树辉 | Bone surgery x ray automatic positioning instrument |
| CN2834447Y (en) * | 2005-09-15 | 2006-11-08 | 李照文 | Medical universal positioning device |
-
2010
- 2010-12-14 CN CN 201010588200 patent/CN102113904B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4543091A (en) * | 1983-05-18 | 1985-09-24 | Edward C. Froning | X-ray marker device |
| US4750487A (en) * | 1986-11-24 | 1988-06-14 | Zanetti Paul H | Stereotactic frame |
| JP2000217811A (en) * | 1998-11-27 | 2000-08-08 | Rikuto:Kk | Medical puncturing implement |
| CN2808077Y (en) * | 2005-01-12 | 2006-08-23 | 吴树辉 | Bone surgery x ray automatic positioning instrument |
| CN2834447Y (en) * | 2005-09-15 | 2006-11-08 | 李照文 | Medical universal positioning device |
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| CN102113904A (en) | 2011-07-06 |
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Effective date of registration: 20180419 Address after: 528437 Zhongshan, Guangdong Torch Development Zone, Shennong Road, No. 6 building, three story A area, A3 Patentee after: ZHONGSHAN HUANNENG MOUTESI MEDICAL EQUIPMENT TECHNOLOGY CO.,LTD. Address before: 510630 8, room 21, building 8, Cui Hu villa, Whampoa Avenue, Guangzhou, Guangdong. Co-patentee before: Huang Xuguang Patentee before: Wu Kaijun |
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Effective date of registration: 20190509 Address after: 510630 Room 201, 127 Sports West Heng Street, Tianhe District, Guangzhou City, Guangdong Province Co-patentee after: Huang Xuguang Patentee after: Wu Kaijun Address before: 528437 Torch Development Zone, Zhongshan City, Guangdong Province Patentee before: ZHONGSHAN HUANNENG MOUTESI MEDICAL EQUIPMENT TECHNOLOGY CO.,LTD. |
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Effective date of registration: 20190722 Address after: 511500 Guangdong Province Qingyuan City Qingcheng High-tech Zone Innovation Avenue 18 Tian'an Zhigu Science and Technology Industrial Park Industrial Building T015 Floor 01 Patentee after: Tianji Medical Robot Technology (Qingyuan) Co.,Ltd. Address before: 510630 Room 201, 127 Sports West Heng Street, Tianhe District, Guangzhou City, Guangdong Province Co-patentee before: Huang Xuguang Patentee before: Wu Kaijun |
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Effective date of registration: 20201015 Address after: No.005, temporary exhibition hall, Guangfo (Fogang) Industrial Park, Guangqing Special Economic Cooperation Zone, Tangtang Town, Fogang County, Qingyuan City, Guangdong Province Patentee after: Guangdong Zhongke Tianji Medical Equipment Co.,Ltd. Address before: 511500 Guangdong Province Qingyuan City Qingcheng High-tech Zone Innovation Avenue 18 Tian'an Zhigu Science and Technology Industrial Park Industrial Building T015 Floor 01 Patentee before: Tianji Medical Robot Technology (Qingyuan) Co.,Ltd. |
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Denomination of invention: Percutaneous renal surgery manipulator puncture system Effective date of registration: 20211221 Granted publication date: 20130515 Pledgee: Guangdong Fogang Rural Commercial Bank Co.,Ltd. Pledgor: Guangdong Zhongke Tianji Medical Equipment Co.,Ltd. Registration number: Y2021440000391 |
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Effective date of registration: 20240125 Granted publication date: 20130515 |