CN104147689A - Mechanism for breast puncture operation under nuclear magnetic image navigation - Google Patents
Mechanism for breast puncture operation under nuclear magnetic image navigation Download PDFInfo
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- CN104147689A CN104147689A CN201410378768.2A CN201410378768A CN104147689A CN 104147689 A CN104147689 A CN 104147689A CN 201410378768 A CN201410378768 A CN 201410378768A CN 104147689 A CN104147689 A CN 104147689A
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- acupuncture
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- puncture
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Abstract
The invention discloses a mechanism for breast puncture operation under nuclear magnetic image navigation. The mechanism comprises a mechanism body which comprises an upper rotating platform, a lower rotating platform and a supporting column connecting the upper rotating platform with the lower rotating platform, a lifting screw is arranged between the upper rotating platform and the lower rotating platform, a puncture supporting platform module is arranged on the lifting screw, and a movable puncture injection module is arranged on the puncture supporting platform module. By the mechanism, the whole process of breast cancer puncture operation can be automatically completed within a limited space of a nuclear magnetic instrument, and the defects of untimely imaging effect and difficulty in path planning in the operation process are overcome; labor intensity of doctors can be reduced greatly, operation difficulty can be lowered, and improving of accuracy of the breast puncture operation within the limited space is realized, so that success rate of the puncture operation is increased clinically; damage of radiopharmaceuticals to the doctors is reduced; operation accuracy can be improved greatly, successfulness and completeness of operation are improved, and physiological and psychological suffering of breast cancer patients during and after operation is reduced greatly.
Description
Technical field
The present invention relates to medical instruments field, belong to the mechanical front subject intersecting with medical science, be applied to especially the close-range particle implant surgery of mammary gland entity tumor and the biological tissue under MRI navigation and detect.
Background technology
At present, the main method of domestic breast carcinoma surgical intervention is to improve radical correction.This type of operation is by the lymph gland excision of breast and some oxters, and does not excise the muscle of thoracic wall.Although improvement radical correction can retain pectoralis major, chest muscle outward appearance is approached normal, but owing to retaining pectoralis major, subclavian vein around fatty lymphoid tissue appears incomplete, removing is restricted, in unavoidable damage, outside thoracic nerves, postoperative pectoralis major atrophy incidence rate is high, this Therapeutic Method often can not thoroughly be cured simultaneously, the complication causing is more, and be only applicable to II, the tumor of III phase case is not involved pectoral fascia, cancerous protuberance focus is positioned at the inner side of mammary gland and the patient of central authorities, chest muscle is invaded or the more person of axillary lymphatic metastasis should not adopt this art formula.The modus operandi remaining at present can't meet successful surgery simultaneously and breast is attractive in appearance.
Summary of the invention
In order to solve the problems of the prior art, the invention provides breast puncture surgical engine structure under a kind of nuclear-magnetism image-guidance, solve the problem that judgement is inaccurate, complication is more of surgery for breast cancer lesion portion in prior art.
The present invention is achieved through the following technical solutions:
Breast puncture surgical engine structure under a kind of nuclear-magnetism image-guidance, comprise mechanism body, described mechanism body comprises turntable, lower turntable and the support frame that connects upper and lower turntable, between upper and lower turntable, be provided with elevating screw, described elevating screw is provided with acupuncture pallet module, described acupuncture pallet module is provided with movably acupuncture injection module.
Described upper and lower turntable comprises upper and lower two plate-like large circles, and ring internal circle is along turning up and connecting with the deep groove ball bearing inner ring interference fit of corresponding model, and bearing outer ring can be connected with the interference of external support platform, to realize the suitable of whole mechanism, rotates freely counterclockwise.
Described support frame is that three support columns are uniformly distributed, in connection, turntable, lower turntable form a common rotating mechanism, medicated bra pattern 1/4th spherical shells are fixed in upper turntable annulus inner circle edge, in order to support breast side, prevent that breast is tilted by acupuncture thrust.
Described common rotating mechanism also comprises up and down two the little turntables fixing with elevating screw upper and lower side, the correspondence position up and down at described two large circle edges is respectively equipped with two dead eyes, and described two little turntables are connected by deep groove ball bearing with described two dead eyes.Described elevating screw is fixed between two little turntables, and can drive described acupuncture pallet module to move up and down.
Described acupuncture pallet module comprises the saddle nut coordinating with elevating screw, is fixed on the inserting needle leading screw on described saddle nut, and the slide unit nut matching with described inserting needle leading screw, on described slide unit nut, is fixed with acupuncture injection module.Described acupuncture injection module can move forward and backward along described acupuncture leading screw along with slide unit nut.
Described acupuncture injection module comprises shell, rubber spring slide block, and nook closing member.Described enclosure has circular port, is slidably matched, in order to support the horizontal attitude of described rubber spring slide block with described rubber spring slide block.The front end of described rubber spring slide block connects described nook closing member, and Yu Si one end, rear end connects, and the other end of silk, on motor, drives spring-compressed, release by electric machine rotation, realizes described nook closing member and pushes drug particle.
Beneficial effect of the present invention is: operate on performing the operation with routine and compare, nuclear magnetic resonance image has high-resolution to soft tissue, can accurately locate focus position, guarantees to implant the positional precision of particle; The Minimally Invasive Surgery equipment of breast puncture surgical engine structure based on MRI navigation under nuclear-magnetism image-guidance of the present invention, can be in the limited space of nuclear magnetic resonance spectrometer the whole-process automatic breast carcinoma acupuncture operation that completes, overcome imaging effect in operation process not in time with the drawback of trajectory planning difficulty; Can reduce widely doctor's labor intensity, reduce the difficulty of this operation, realize and in limited space, to improve the precision of mammary gland acupuncture operation, thereby in the success rate of clinical middle increase acupuncture operation.In strong magnetic field circumstance, realize the real-time control to mechanism, guarantee optimal path, improve operation efficiency.Weaken the injury of radiopharmaceutical to doctor simultaneously; More can improve dramatically operation precision, the successful of operation and integrity, alleviate in breast cancer patients art and postoperative Physiological Psychology misery greatly.
NMR (Nuclear Magnetic Resonance)-imaging (MRI) is compared with traditional X ray, CT, can avoid the X-radiation to healthy cell, and there are good soft tissue resolving power and accurate geometric features, 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.The advantages such as the type of drive of silk transmission not only has high accuracy, and transmission linearity is good, and moment of torsion is adjustable, can also realize motor power system away from nuclear magnetic resonance spectrometer imaging region, thereby alleviate metal, produce the impact of artifact in nuclear magnetic resonance analyser imaging.Improve the definition of nuclear magnetic resonance analyser image.
Accompanying drawing explanation
Fig. 1 is the present invention's mechanism's front view of performing the operation;
Fig. 2 is the present invention's mechanism's right view of performing the operation;
Fig. 3 is the present invention's mechanism's axonometric drawing of performing the operation;
Fig. 4 is perform the operation mechanism's acupuncture pallet module and acupuncture injection module of the present invention;
Fig. 5 is the present invention's mechanism's acupuncture injection module of performing the operation;
Wherein 1. deep groove ball bearings (on); 2. the little turntable in top; 3. elevating screw; 4. puncture needle; 5. saddle nut; 6. the little turntable in bottom; 7. go up turntable; 8. support column; 9. 1/4th spherical shells; Deep groove ball bearing (under); 11. times turntables; 12. shells; 13. inserting needle leading screws; 14. slide unit nuts; 15. lifting guide pillars; 16. rubber springs; 17. nook closing members.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is elaborated.
As shown in Figure 1, breast puncture surgical engine structure under nuclear-magnetism image-guidance of the present invention, comprise turntable 7, lower turntable 11 and the support frame that connects upper and lower turntable, between upper and lower turntable, be provided with elevating screw 3, described elevating screw 3 is provided with acupuncture pallet module, described acupuncture pallet module is provided with movably acupuncture injection module.
Upper and lower turntable comprises upper and lower two plate-like large circles, and ring internal circle is along turning up and connecting with deep groove ball bearing 1, the 10 inner ring interference fit of corresponding model, and bearing outer ring can be connected with the interference of external support platform, to realize the suitable of whole mechanism, rotates freely counterclockwise.
Support frame is that three support columns 8 are uniformly distributed, in connection, turntable 7, lower turntable 11 form a common rotating mechanism, medicated bra pattern 1/4th spherical shells 9 are fixed in upper turntable 7 annulus inner circle edges, in order to support breast side, prevent that breast is tilted by acupuncture thrust.Common rotating mechanism also comprises up and down two the little turntables 2 fixing with elevating screw 3 upper and lower sides, 6, the correspondence position up and down at described two large circle edges is respectively equipped with two dead eyes, described two little turntables 2,6 connect by deep groove ball bearing 1,10 with described two dead eyes.Described elevating screw 3 is fixed between two little turntables, and can drive described acupuncture pallet module to move up and down.
Acupuncture pallet module comprises the saddle nut 5 coordinating with elevating screw, is fixed on the inserting needle leading screw 13 on described saddle nut 5, and the slide unit nut 14 matching with described inserting needle leading screw 13, on described slide unit nut 14, is fixed with acupuncture injection module.Described acupuncture injection module can move forward and backward along described inserting needle leading screw 13 along with slide unit nut 14.
Acupuncture injection module comprises shell 12, rubber spring slide block 16, and nook closing member 17.Described shell 12 inside have circular port, are slidably matched, in order to support the horizontal attitude of described rubber spring slide block 16 with described rubber spring slide block 16.The front end of described rubber spring slide block 16 connects described nook closing member 17, and Yu Si one end, rear end connects, and the other end of silk, on motor, drives spring-compressed, release by electric machine rotation, realizes described nook closing member and pushes drug particle.
Before operation, patient is prostrate on upper support framework, and the breast at focus place is placed in 1/4th spherical shells 9, and as Fig. 1, in this figure, puncture needle 4 will be over against patient part in operation.In operation, the pin direction adjustment of should advanced person before inserting needle advancing.From corresponding operation image-guidance system, obtain patient part information, and carry out in real time corresponding robot pose adjustment, adjust and be divided into both direction, the inserting needle attitude of vertical direction and horizontal direction is adjusted.
The translation up and down that is adjusted into described acupuncture pallet module integral body of vertical direction, as illustrated in fig. 1 and 2, the adjustment of described translational degree of freedom mainly relies on elevating screw 3 to complete, described elevating screw 3 two ends respectively by bearings in top and the bottom little turntable 2,6, in the lower end of described elevating screw 3, be carved with wrapping wire groove, two driving wires are positive and negative in described wrapping wire groove respectively, and the other end provides pulling force by same motor A.Like this by remote motor band movable wire, thereby can realize the rotating of described elevating screw 3, during forward, saddle nut 5 can move upward, and whole like this acupuncture pallet module will move upward; During reversion, saddle nut 5 can move downward, and whole like this acupuncture pallet module also can, along with moving downward, be adjusted object thereby reach vertical direction attitude by rising or declining.
The attitude adjustment of horizontal direction comprises the adjustment of two degree of freedom, respectively swinging of the rotation of mechanism's integral body in horizontal plane and saddle nut 5, rotational freedom in wherein said horizontal plane: as Fig. 1 and 3, two driving wire one end are positive and negative lower turntable 11 outers that are around in respectively, the other end is around in respectively same motor B, motor B moves described lower turntable 11 by silk ribbon and rotates, and by support column 8, drives upper turntable 7 synchronously to rotate, and makes puncture needle aim at focus.Because breast inner space is too small, the anglec of rotation of turntable is restricted, and can cause medial part to be divided into work blind area, therefore need to there be a degree of freedom swinging.When focus is positioned at inner side " work blind area ", first by the rotational freedom in described horizontal plane, adjust, make turntable go to inner side, adjust again the degree of freedom that swings of described saddle nut 5: as Fig. 2 and 3, one end of two driving wires respectively positive and negative around bottom the outer of little turntable 6, the other end is around in respectively on same motor C, motor C moves described lower little turntable 6 by silk ribbon and rotates, by lifting guide pillar 15, drive the little turntable 2 in top to carry out synchronous rotary, now described acupuncture pallet module and described acupuncture injection module also will swing thereupon.By swinging of the rotation in described horizontal plane and described saddle nut 5 object that attitude is adjusted in direction that is up to the standard.
After attitude is adjusted, carry out acupuncture.Described acupuncture motion: as shown in Figures 3 and 4, two driving wire one end are respectively in the positive and negative afterbody winding slot that is around in inserting needle leading screw 13, the other end is around in respectively same motor D, motor D is moved inserting needle leading screw 13 by silk ribbon and is rotated, inserting needle leading screw 13 is coordinated and is driven slide unit nut 14 to seesaw by feed screw nut, the acupuncture injection module being connected with slide unit nut 14 is also advanced realization or is retreated, thereby realizes the inserting needle at breast lesion position and the withdraw of the needle.
Finally, acupuncture injecting systems carries out the injection of drug particle.As Figure 4 and 5, wherein Fig. 5 is left view and the profile of acupuncture injecting systems.Rubber spring 16 front ends are fixedly connected with nook closing member 17, one end of rear end connection for transmission silk, the other end of silk is on motor E, when whole described acupuncture injecting systems thrusts behind breast lesion position with the inserting needle motion of slide unit nut 14, motor E moves spring-compressed, release by silk ribbon, realizes nook closing member propelling movement drug particle and enters diseased region.
Claims (6)
1. breast puncture surgical engine structure under a nuclear-magnetism image-guidance, comprise mechanism body, it is characterized in that, described mechanism body comprises turntable, lower turntable and the support frame that connects upper and lower turntable, between upper and lower turntable, be provided with elevating screw, described elevating screw is provided with acupuncture pallet module, described acupuncture pallet module is provided with movably acupuncture injection module.
2. breast puncture surgical engine structure under nuclear-magnetism image-guidance according to claim 1, it is characterized in that, described upper and lower turntable comprises upper and lower two plate-like large circles, ring internal circle is along turning up and connecting with the deep groove ball bearing inner ring interference fit of corresponding model, bearing outer ring can be connected with the interference of external support platform, to realize the suitable of whole mechanism, rotates freely counterclockwise.
3. breast puncture surgical engine structure under nuclear-magnetism image-guidance according to claim 1, it is characterized in that, described support frame is that three support columns are uniformly distributed, in connection, turntable, lower turntable form a common rotating mechanism, and medicated bra pattern 1/4th spherical shells are fixed in upper turntable annulus inner circle edge.
4. breast puncture surgical engine structure under nuclear-magnetism image-guidance according to claim 3, it is characterized in that, described common rotating mechanism also comprises up and down two the little turntables fixing with elevating screw upper and lower side, the correspondence position up and down at described two large circle edges is respectively equipped with two dead eyes, described two little turntables are connected by deep groove ball bearing with described two dead eyes, described elevating screw is fixed between two little turntables, and can drive described acupuncture pallet module to move up and down.
5. breast puncture surgical engine structure under nuclear-magnetism image-guidance according to claim 1, it is characterized in that, described acupuncture pallet module comprises the saddle nut coordinating with elevating screw, be fixed on the inserting needle leading screw on described saddle nut, and the slide unit nut matching with described inserting needle leading screw, on described slide unit nut, be fixed with acupuncture injection module, described acupuncture injection module can move forward and backward along described acupuncture leading screw along with slide unit nut.
6. breast puncture surgical engine structure under nuclear-magnetism image-guidance according to claim 1, it is characterized in that, described acupuncture injection module comprises shell, rubber spring slide block and nook closing member, described enclosure has circular port, be slidably matched with described rubber spring slide block, in order to support the horizontal attitude of described rubber spring slide block, the front end of described rubber spring slide block connects described nook closing member, Yu Si one end, rear end connects, the other end of silk, on motor, drives spring-compressed, release by electric machine rotation, realizes described nook closing member and pushes drug particle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410378768.2A CN104147689A (en) | 2014-03-24 | 2014-07-31 | Mechanism for breast puncture operation under nuclear magnetic image navigation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420134670.8 | 2014-03-24 | ||
| CN201420134670 | 2014-03-24 | ||
| CN201410378768.2A CN104147689A (en) | 2014-03-24 | 2014-07-31 | Mechanism for breast puncture operation under nuclear magnetic image navigation |
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| CN104147689A true CN104147689A (en) | 2014-11-19 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104783828A (en) * | 2015-04-16 | 2015-07-22 | 杨春晓 | Inspection device used for breast surgery |
| CN105193478A (en) * | 2015-10-20 | 2015-12-30 | 天津大学 | Puncture device with RCM (remote center of motion) based on wire driving |
| CN109770902A (en) * | 2018-12-29 | 2019-05-21 | 天津大学 | A kind of tumour automatic station-keeping system towards under magnetic nuclear resonance environment |
| CN110652322A (en) * | 2018-06-29 | 2020-01-07 | 新加坡国立大学 | Guiding and positioning robot |
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| CN103417303A (en) * | 2013-08-16 | 2013-12-04 | 天津大学 | Nuclear magnetism compatibility surgical robot based on screw drive |
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Patent Citations (7)
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| US20020156365A1 (en) * | 1999-09-29 | 2002-10-24 | Regents Of The University Of Minnesota | MRI-guided interventional mammary procedures |
| US20030199753A1 (en) * | 2002-04-23 | 2003-10-23 | Ethicon Endo-Surgery | MRI compatible biopsy device with detachable probe |
| WO2007053823A2 (en) * | 2005-10-31 | 2007-05-10 | Biolucent, Inc. | Brachytherapy apparatus and methods of using same |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104783828A (en) * | 2015-04-16 | 2015-07-22 | 杨春晓 | Inspection device used for breast surgery |
| CN105193478A (en) * | 2015-10-20 | 2015-12-30 | 天津大学 | Puncture device with RCM (remote center of motion) based on wire driving |
| CN105193478B (en) * | 2015-10-20 | 2017-07-07 | 天津大学 | The sting device with distal movement center based on silk transmission |
| CN110652322A (en) * | 2018-06-29 | 2020-01-07 | 新加坡国立大学 | Guiding and positioning robot |
| CN109770902A (en) * | 2018-12-29 | 2019-05-21 | 天津大学 | A kind of tumour automatic station-keeping system towards under magnetic nuclear resonance environment |
| CN109770902B (en) * | 2018-12-29 | 2024-03-19 | 天津大学 | Tumor automatic positioning system oriented to nuclear magnetic resonance environment |
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Application publication date: 20141119 |
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