CN117898836A - A compass-like body-fixed breast puncture robot and its use method - Google Patents

Abstract

The invention discloses a compass-like body-fixed mammary gland puncture robot and a using method thereof, and belongs to the field of medical appliances. Comprises a base, a first position adjusting device, a second position adjusting device, a mammary gland fixing device and a puncture device. The bottom of the base is fixedly connected with a polygonal bracket. The first position adjusting device is placed inside the base. The mammary gland fixing device is coaxially sleeved in the cylindrical large gear. The second position adjusting device comprises a trapezoidal screw rod, a U-shaped bracket, a connecting rod and a sliding block, and is arranged at the top end of the mammary gland fixing device. The upper end of the screw rod is connected with a U-shaped bracket, and the U-shaped bracket is connected with a connecting rod. The distance between the two sliding blocks is fixed, and the screw rod and the connecting rod are connected. The tail end of the connecting rod is connected with the puncture device. The polygonal support is placed on a patient, fixed by the binding belt, breathing is compensated, and the optimal puncturing position is found through gear transmission, screw transmission and swinging of the puncturing device, so that accurate puncturing is realized.

Description

A compass-like body-fixed breast puncture robot and its use method

Technical Field

The invention relates to a compass-like body-fixed breast puncture robot and a use method thereof, and belongs to the field of minimally invasive interventional surgical robots.

Background technique

Breast cancer remains the most common malignant tumor in women, and its incidence is on the rise, making it the malignant tumor with the highest incidence rate in the world. However, all breast tissues must be removed during breast cancer surgery, which is difficult for most patients to accept, and seriously affects their psychological state and quality of life after surgery. Therefore, while treating the disease, patients have higher and higher requirements for the appearance of their breasts. The treatment concept of breast cancer has also changed from the initial focus on the scope of surgery and efficacy to "minimally invasive, precise, individualized and functional protection". Compared with traditional open surgery, minimally invasive surgery has the advantages of small wounds, less pain, quick recovery and low infection rate.

Minimally invasive puncture biopsy under the guidance of imaging is one of the important ways to achieve early detection and early treatment of breast cancer. Although the accuracy and success rate of breast puncture biopsy under the guidance of medical imaging are high, it is difficult to ensure the accuracy of puncture due to factors such as patient's respiratory movement, body position change and tissue deformation caused by puncture. In addition, it takes a long time, which will cause fatigue of doctors and long-term exposure to radiation environment, reducing the accuracy. The use of surgical robot devices for operation is an ideal way to solve the above problems. Compared with manual operation, the use of surgical robots for operation has many advantages, such as good flexibility, high precision, more stability, reduced errors, and the ability to design and adjust its structure according to actual conditions to adapt to the surgical operation space.

Summary of the invention

The present invention provides a compass-like body-fixed breast puncture robot and a use method thereof, so as to solve the problems existing in the above-mentioned background technology.

In order to solve the above technical problems, the technical solution adopted by the present invention is:

A compass-like body-fixed breast puncture robot and a method of use, comprising: a base, the bottom of which is fixedly connected to a polygonal bracket and placed on a patient to connect the robot and the patient; a first position adjustment device, which is a pair of mutually meshing gears placed inside the base to make the robot as a whole except the base rotate coaxially; a breast fixation device, the breast fixation device is coaxially sleeved in a large-diameter gear, and the radial diameter gradually decreases from one end to the other end, and the breast fixation device includes three spokes arranged at equal intervals; a second position adjustment device, which includes a trapezoidal lead screw, a U-shaped bracket, a connecting rod, and a slider, and is placed at the top of the breast fixation device, the upper end of the trapezoidal lead screw is connected to the U-shaped bracket, the U-shaped bracket is connected to the connecting rod, the distance between the two sliders is fixed, the lead screw and the connecting rod are connected, and a puncture device is used to drive the puncture needle to advance or withdraw the needle along its axial direction.

Furthermore: the motor of the first position adjustment device drives the cylindrical pinion to mesh with the cylindrical gear, and the gear drives the breast fixation device, the second position adjustment device, and the puncture device to rotate synchronously to achieve preliminary positioning of the puncture position.

Furthermore: the fixing device has a diameter of 150 mm and a height of 30 mm, and is fixedly connected to the cylindrical gear and fixedly connected to the motor of the second position adjustment device.

Furthermore: the second position adjustment device motor drives the second position adjustment device screw through the second position adjustment device coupling to realize the up and down sliding of the slider 1. The second position adjustment device screw is connected to the U-shaped bracket through a flange bearing. The narrow end of the connecting rod is connected to the upper end of the U-shaped bracket. The wide end of the connecting rod is connected to the puncture mechanism. The slider 1 and the U-shaped clamp are fixed by a light rod, and the distance remains unchanged. The slider 2 is connected to the U-shaped clamp and is sleeved on the connecting rod, thereby controlling the opening and closing angle adjustment of the puncture device, which is similar to the working principle of a compass, thereby realizing further positioning of the puncture position.

Furthermore, the puncture device motor 2 drives the entire puncture device to swing left and right through the puncture device coupling 2, so as to achieve accurate positioning of the puncture device.

Furthermore, the puncture device screw is fixed in the puncture device base and driven by the puncture device motor 1 through the puncture device coupling 1 to achieve the up and down sliding of the puncture device slider on the puncture device screw. The puncture needle is fixed on the puncture device slider and passes through the small hole on the puncture device base, and moves together with the puncture device slider to achieve needle insertion and withdrawal.

The present invention is used to assist breast intervention surgery and has the following beneficial effects:

(1) The compass-like body-fixed breast puncture robot of the present invention is compact and can be used in conjunction with existing optical instrument navigation, CT navigation, ultrasound navigation, etc. to complete autonomous puncture in a narrow space.

(2) The body fixation method can compensate for physiological movement and prevent unnecessary damage caused by displacement of organs and tissues due to breathing or accidental coughing while the puncture device is fixed.

(3) The patient can lie flat on the bed and enter the medical imaging navigation device together with the puncture robot, so that the doctor can observe and intervene in the puncture operation at any time when an accident occurs, without turning the patient off the prone bed.

(4) The robot is made of non-metallic materials, mainly radioactive plastics. The placement of metal and electronic equipment distorts the navigation image while reducing weight to avoid oppression on the patient.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of the three-dimensional structure of the present invention.

FIG. 2 is a schematic structural diagram of a base, a first position adjustment device, and a breast fixing device.

FIG. 3 is a schematic structural diagram of a second position adjustment device.

Figures 4 and 5 are schematic diagrams of the structure of the puncture device.

In the figure: base (1), polygonal bracket (101), first position adjustment device (2), cylindrical pinion (201), cylindrical gear (202), first position adjustment device motor (203), breast fixation device (3), spoke (301), second position adjustment device (4), second position adjustment device motor (401), second position adjustment device coupling (402), second position adjustment device lead screw (403), slider 1 (404), flange bearing (405), U-shaped bracket (406), connecting rod (407), U-shaped clamp (408), slider 2 (409), puncture device (5), puncture device motor 1 (501), puncture device coupling 1 (502), puncture device lead screw (503), puncture device slider (504), puncture needle (505), puncture device base (506), puncture device coupling 2 (507), puncture device motor 2 (508).

Detailed ways

The specific implementation modes of the present invention will be described in detail below with reference to the accompanying drawings.

It should be noted that the terms "first", "second" and the like in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects rather than to describe a specific order or sequence.

In the present application, the terms "upper", "lower", "inner", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. This is to better describe the present application and its embodiments, and is not intended to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

In addition, the terms "disposed", "provided with", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

Example 1

The present embodiment provides a compass-like body-fixed breast puncture robot and a method of using the robot, as shown in Figures 1 and 2, comprising a base (1), a first position adjustment device (2), a second position adjustment device (4), a breast fixation device (3), and a puncture device (5). The bottom of the base (1) is fixedly connected to a polygonal bracket (101), which is placed on the patient to connect the robot and the patient. The first position adjustment device (2) is a pair of mutually meshing gears, which is placed inside the base (1) to enable the breast fixation device (3), the second position adjustment device (4), and the puncture device (5) to rotate coaxially as a whole. The breast fixation device (3) is coaxially fixed in the large-diameter gear, and the radial diameter gradually decreases from one end to the other end. The breast fixation device (3) includes three spokes (301) arranged at equal intervals. The second position adjustment device (4) is placed at the upper end of the breast fixation device (3). The puncture device (5) is used to drive the puncture needle (505) to advance or withdraw the needle along its axial direction, and is connected to the wide end of the connecting rod (407). In addition, the first position adjustment device motor (203) drives the cylindrical pinion (201) and the cylindrical gear (202) to mesh with each other, and the cylindrical gear (202) drives the breast fixing device (3), the second position adjustment device (4), and the puncture device (5) to rotate synchronously, thereby achieving preliminary positioning of the puncture position.

Specifically: at the beginning of the operation, the doctor fixes the robot on the patient with a strap and sends it to the medical imaging real-time navigation device. Different sides of the polygonal bracket (101) can be connected to the strap. Through the different positions of the strap, the placement of the robot can also be adjusted according to the target position.

Specifically: the position of the second position adjustment device (4) relative to the breast fixing device (3) remains unchanged, so the three spokes (301) will not hinder the insertion and withdrawal of the puncture device (5).

Specifically: the breast fixation device (3) is hemispherical. Since the diameter of the hemispherical breast of a Chinese female patient is about 140 mm, the diameter of the fixation device is 150 mm and the height is 30 mm.

Specifically, the upper end of the trapezoidal lead screw is connected to the U-shaped bracket (406), and the U-shaped bracket (406) is connected to the connecting rod (407). The distance between the two sliders is fixed, and the second position adjustment device lead screw (403) and the connecting rod (407) are connected.

Example 2

As shown in Figures 3 to 5: the second position adjustment device motor (401) drives the second position adjustment device lead screw (403) through the second position adjustment device coupling (402) to achieve the up and down sliding of the slider 1 (404). The second position adjustment device lead screw (403) is connected to the U-shaped bracket (406) through the flange bearing (405). The narrow end of the connecting rod (407) is connected to the upper end of the U-shaped bracket (406), and the wide end of the connecting rod (407) is connected to the puncture mechanism. The slider 1 (404) and the U-shaped clamp (408) are fixed by the light rod, and the distance remains unchanged. The slider 2 (409) is connected to the U-shaped clamp (408) and is sleeved on the connecting rod (407). Thereby controlling the opening and closing angle adjustment of the puncture device (5) to achieve further positioning of the puncture position. The puncture device motor 2 (508) drives the entire puncture device (5) to swing left and right through the puncture device coupling 2 (507) to achieve accurate positioning of the puncture device (5). The puncture device screw (503) is fixed in the puncture device base (506) and driven by the puncture device motor 1 (501) through the puncture device coupling 1 (502) to achieve the up and down sliding of the puncture device slider (504) on the puncture device screw (503). The puncture needle (505) is fixed on the puncture device slider (504) and passes through the small hole on the puncture device base (506), and moves together with the puncture device slider (504) to achieve needle insertion and needle withdrawal.

Specifically: the U-shaped bracket (406) and the connecting rod (407) are movably connected by bolts, and the U-shaped clamp (408) and the slider 2 (409) are movably connected by bolts. As the lead screw rotates, the slider moves up and down, thereby driving the angle between the lead screw and the connecting rod (407) to be adjusted.

Specifically: the puncture device motor 2 (508) drives the puncture device (5) and the connecting rod (407) to adjust the angle.

Specific: The whole material is made of non-metallic material, there is no pressure when placed on the patient, and there is no impact on the real-time navigation image.

A compass-like body-fixed breast puncture robot and a method of using the robot, comprising the following steps:

Instructions for use: By placing the straps in different ways, the robot is placed on the patient in a suitable orientation. The cylindrical pinion (201) is driven by the first position adjustment device motor (203), which drives the cylindrical gear (202) to rotate. The rotation range is 0° to 360°, thereby achieving the initial positioning of the target position. Next, the second position adjustment device motor (401) drives the lead screw to rotate, so that the slider rises or falls, controls the opening and closing angle, and performs the second positioning to achieve the puncture position selection. Next, the puncture device motor 2 (508) controls the swing angle of the entire puncture device (5), and selects to puncture from the inside to the outside or from the outside to the inside, so as to achieve accurate positioning of the puncture position. Finally, the puncture device motor 1 (501) controls the rotation of the puncture device lead screw (503), driving the puncture device slider (504) to slide up and down, thereby achieving needle insertion and withdrawal.

The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. The above description is only to illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims (9)

1. A compass-like body-fixed breast puncture robot, characterized by comprising: A base (1), wherein the bottom of the base (1) is fixedly connected to a polygonal bracket (101) and is placed on the patient to connect the robot and the patient. 2. A first position adjustment device (2), wherein the first position adjustment device (2) is a pair of mutually meshing gears placed inside the base (1), so that the entire robot except the base (1) rotates coaxially. 3. A breast fixation device (3), wherein the breast fixation device (3) is coaxially fixed in a large-diameter gear, and the radial diameter gradually decreases from one end to the other end, and the breast fixation device (3) comprises three spokes (301) arranged at equal intervals. 4. A second position adjustment device (4), the second position adjustment device (4) comprising a trapezoidal lead screw, a U-shaped bracket (406), a connecting rod (407), a slider 1 (404), and a slider 2 (409), which is placed at the top of the breast fixation device (3), the upper end of the trapezoidal lead screw is connected to the U-shaped bracket (406), the U-shaped bracket (406) is connected to the connecting rod (407), the distance between the two sliders is fixed, and the lead screw and the connecting rod (407) are connected. 5. A puncture device (5), wherein the puncture device (5) is used to drive the puncture needle (505) to advance or withdraw the needle along its axial direction. 6. The compass-like body-fixing breast puncture robot according to claim 1 is characterized in that: the first position adjustment device motor (203) drives the cylindrical pinion (201) and the cylindrical gear (202) to engage with each other, and the cylindrical gear (202) drives the breast fixation device (3), the second position adjustment device (4), and the puncture device (5) to rotate synchronously. 7. The compass-like body-fixing breast puncture robot according to claim 1, characterized in that: the fixing device is fixedly connected to the cylindrical gear (202) and is also fixedly connected to the second position adjustment device motor (401). 8. The compass-like body-fixed breast puncture robot according to claim 1 is characterized in that: the second position adjustment device motor (401) drives the second position adjustment device screw (403) through the second position adjustment device coupling (402) to realize the up and down sliding of the slider 1 (404); the second position adjustment device screw (403) is connected to the U-shaped bracket (406) through the flange bearing (405); the narrow end of the connecting rod (407) is connected to the upper end of the U-shaped bracket (406); the wide end of the connecting rod (407) is connected to the puncture mechanism; the slider 1 (404) and the U-shaped clamp (408) are fixed by a light rod, and the distance between them remains unchanged; the slider 2 (409) is connected to the U-shaped clamp (408) and is sleeved on the connecting rod (407). 9. The compass-like body-fixed breast puncture robot according to claim 1 is characterized in that: the puncture device motor 1 (501) drives the entire puncture device (5) to swing left and right through the puncture device coupling 1 (502), the puncture device lead screw (503) is fixed in the puncture device base (506), and is driven by the puncture device motor 2 (508) through the puncture device coupling 2 (507) to achieve the up and down sliding of the puncture device slider (504) on the puncture device lead screw (503), and the puncture needle (505) is fixed on the puncture device slider (504) and passes through the small hole on the puncture device base (506), and moves together with the puncture device slider (504) to achieve needle insertion and withdrawal.