CN211534702U - Interventional puncture system and diagnosis and treatment equipment having the same - Google Patents

Abstract

The utility model provides an interventional puncture system and a diagnosis and treatment device having the same. The interventional puncture system includes a puncture mechanism located at one end of an imaging device and extending into a scanning cavity of the imaging device. After the patient bed enters the scanning cavity, the puncturing mechanism can perform an interventional puncture operation; A position and attitude adjustment assembly at one end of the imaging device and an interventional instrument arranged at the end of the position and attitude adjustment assembly, the position and attitude adjustment assembly can drive the interventional instrument to extend into the scanning cavity and move to the top of the patient bed , for interventional puncture. The puncture mechanism located at one end of the imaging device extends into the scanning cavity. When the lesion area is determined, the position and posture adjustment component can drive the interventional instrument to move according to the real-time image scanned by the imaging device to penetrate the patient's lesion area to complete the interventional puncture operation.

Description

Interventional puncture system and diagnosis and treatment equipment having the same

technical field

The utility model relates to the technical field of medical equipment, in particular to an interventional puncture system and a diagnosis and treatment device having the same.

Background technique

Magnetic resonance-guided real-time interventional puncture has great clinical value, and the puncture process can be completed accurately, efficiently and safely under the guidance of real-time images. However, the magnetic resonance imaging field of view is in the middle area of the aperture, and medical staff cannot reach such a far place with bare hands, which affects the effect of interventional puncture.

Utility model content

Based on this, it is necessary to provide an interventional puncture system that facilitates puncturing in a scanning cavity, and a diagnosis and treatment device having the same, in view of the current problem that medical staff cannot reach into the middle of the aperture with bare hands to perform interventional operations.

The above purpose is achieved through the following technical solutions:

An interventional puncture system, comprising a puncture mechanism located at one end of an imaging device and extending into a scanning cavity of the imaging device, and after a patient bed enters the scanning cavity, the puncturing mechanism can perform an interventional puncture operation;

The puncturing mechanism includes a position and attitude adjustment assembly located at one end of the imaging device and an interventional instrument disposed at the end of the position and attitude adjustment assembly, and the position and attitude adjustment assembly can drive the interventional instrument to extend into the The cavity is scanned and moved over the bed for an interventional puncture procedure.

In one of the embodiments, the puncturing mechanism is fixedly arranged on the end of the imaging device, or the puncturing mechanism is fixedly arranged on an installation reference near the end of the imaging device, where the installation reference includes ground or fixed Mounts on the ground.

In one of the embodiments, the piercing mechanism is movably disposed at one end of the imaging device.

In one of the embodiments, the interventional puncture system further comprises a moving base with rollers, the moving base can slide along the ground, and the puncturing mechanism is mounted on the moving base.

In one embodiment, the interventional puncture system further includes a sliding track, the sliding track is laid on the peripheral side of the imaging device, and the puncturing mechanism is slidably mounted on the sliding track.

In one embodiment, the position and attitude adjustment assembly includes a mounting piece, a multi-degree-of-freedom moving piece rotatably mounted on the mounting piece, and a clamping piece disposed at the end of the multi-degree-of-freedom moving piece, so The holding member is used for holding the interventional instrument, and the multi-degree-of-freedom moving member can drive the holding member to extend into the scanning cavity.

In one embodiment, the multi-degree-of-freedom moving member includes a rotatable rotating member, a rotatable rotating member, and a pushing member, and the pushing member can install the clamping member and push the clamping member. The interventional instrument is used for interventional puncture operation, and the rotating member and the rotating member can drive the pushing member to move, so as to adjust the intervention angle of the interventional instrument.

In one of the embodiments, the multi-degree-of-freedom moving element includes a serial manipulator and/or a parallel manipulator;

Alternatively, the multi-degree-of-freedom moving element includes a serial manipulator and/or a combination of a parallel manipulator and a flexible manipulator.

A diagnosis and treatment device, comprising an imaging device with a scanning cavity, a hospital bed for carrying a patient, and the interventional puncture system according to any one of the above technical features;

The interventional puncture system is located at one end of the imaging device and can extend into the scanning cavity, and after the patient bed enters the scanning cavity, the interventional puncture system can perform an interventional puncture operation on the patient's lesion area;

Wherein, the imaging equipment is MR equipment, PET/MR equipment, CT equipment, PET/CT equipment.

In one embodiment, the diagnosis and treatment device further includes a control system in transmission connection with the imaging device and the interventional puncture system, after the control system receives the real-time imaging of the lesion area by the imaging device, the control system The system can control the position and posture adjustment component of the interventional puncture system to drive the interventional instrument to move to the vicinity of the lesion area according to the real-time imaging, and control the position and posture adjustment component to drive the interventional instrument to perform the interventional puncture operation;

Alternatively, the diagnosis and treatment equipment further includes a control system connected to the interventional puncture system, the control system can control the position and attitude adjustment components of the interventional puncture system to drive the interventional instrument to move to the vicinity of the lesion area, and control the position and the posture adjustment component drives the interventional instrument to perform an interventional puncture operation.

After adopting the above-mentioned technical scheme, the utility model at least has the following technical effects:

In the interventional puncture system of the utility model and the diagnosis and treatment equipment having the same, during the interventional puncture operation, the patient bed drives the patient to enter the scanning cavity of the imaging device together, so that the scanning cavity can image the lesion area of the patient; at the same time, the puncture at one end of the imaging device The mechanism extends into the scanning cavity. When the lesion area is determined, the position and posture adjustment component can drive the interventional instrument to move according to the real-time image scanned by the imaging device to penetrate the patient's lesion area to complete the interventional puncture operation. During the interventional puncture operation, the puncture mechanism can be located in the scanning cavity, which effectively solves the problem that medical staff cannot reach into the middle of the aperture with bare hands to perform the interventional operation, and facilitates puncturing in the scanning cavity. At the same time, the position and attitude adjustment component drives the interventional device to accurately pierce the patient's lesion area after cooperating with the imaging device, ensuring that the interventional puncture operation can complete the puncture process accurately, efficiently and safely.

Description of drawings

1 is a perspective view of an interventional puncture system movably disposed at an end of an imaging device according to an embodiment of the present invention;

2 is a perspective view of the puncture mechanism installed on the sliding mechanism in the interventional puncture system shown in FIG. 1;

3 is a perspective view of an embodiment of a multi-degree-of-freedom moving member in the puncture mechanism shown in FIG. 1;

4 is a perspective view of another embodiment of the multi-degree-of-freedom moving member in the puncture mechanism shown in FIG. 1;

5 is a perspective view of a third embodiment of a multi-degree-of-freedom moving member in the puncture mechanism shown in FIG. 1;

6 is a perspective view of a fourth embodiment of a multi-degree-of-freedom moving member in the puncture mechanism shown in FIG. 1;

7 is a perspective view of an interventional puncture system fixedly disposed at an end of an imaging device according to another embodiment of the present invention.

in:

100 - interventional puncture system;

110 - puncture mechanism;

111-Position and attitude adjustment components;

1111 - mounting parts;

1112 - multi-degree-of-freedom moving parts;

11121 - turning parts;

11122 - rotating parts;

11123 - pusher;

1113 - clamping part;

112 - interventional instruments;

140 - mobile seat;

200 - hospital beds;

300-patient;

400 - Imaging equipment;

410 - Scan cavity.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present utility model clearer, the following embodiments and the accompanying drawings will further describe the interventional puncture system of the present utility model and the diagnosis and treatment equipment with the same. It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

The serial numbers themselves, such as "first", "second", etc., for the components herein are only used to distinguish the described objects, and do not have any order or technical meaning. The "connection" and "connection" mentioned in this application, unless otherwise specified, include both direct and indirect connections (connections). In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inside", "outside", "clockwise", "counterclockwise" and other indications of orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing the present utility model and The description is simplified rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention.

In the present invention, unless otherwise expressly specified and defined, a first feature "on" or "under" a second feature may be in direct contact with the first and second features, or the first and second features through an intermediary indirect contact. Also, the first feature being "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

Referring to FIG. 1 and FIG. 7 , the present invention provides an interventional puncture system 100 . The interventional puncture system 100 is applied in a diagnosis and treatment equipment to perform an interventional puncture operation on the lesion area of the patient 300 . In addition, the interventional puncture system 100 of the present invention can extend into the scanning cavity 410 of the imaging device 400 (imaging body), and perform an interventional puncture operation on the lesion area of the patient 300 in the scanning cavity 410 . The imaging device 400 scans and images the lesion area of the patient 300, and the control system of the diagnosis and treatment device can receive the real-time image of the lesion area, and then controls the interventional puncture system 100 to guide the interventional puncture operation according to the real-time image, so as to achieve precise positioning and accurate puncture, Improve the success rate of interventional puncture surgery and reduce the risk of medical malpractice caused by accidental injury.

After the interventional puncture system 100 of the present invention is inserted into the scanning cavity 410 of the imaging device 400 , there is no need for medical staff to insert into the scanning cavity 410 to perform an interventional puncture operation, which facilitates puncturing in the scanning cavity 410 . At the same time, the position and posture adjustment component 111 drives the interventional instrument 112 to cooperate with the imaging device 400 to accurately penetrate the lesion area of the patient 300, ensuring that the interventional puncture operation can complete the puncture process accurately, efficiently and safely. It can be understood that the interventional puncture operation here includes but is not limited to various interventional means such as tissue biopsy, tumor ablation, particle implantation, fluid extraction, nerve block, and superficial surgery.

Referring to FIGS. 1 and 7 , in one embodiment, the interventional puncture system 100 includes a puncture mechanism 110 located at one end of the imaging device 400 and extending into the scanning cavity 410 of the imaging device 400 . After the patient bed 200 enters the scanning cavity 410 , the puncturing mechanism 110 An interventional puncture operation can be performed on the lesion area. The puncturing mechanism 110 includes a position and attitude adjustment assembly 111 located at one end of the imaging device 400 and an interventional instrument 112 disposed at the end of the position and attitude adjustment assembly 111. The position and attitude adjustment assembly 111 can drive the interventional instrument 112 to extend into the scanning cavity 410 and move to the vicinity of the lesion area for interventional puncture.

The puncture mechanism 110 is the main component of the interventional puncture system 100 to perform the interventional puncture operation. The puncturing mechanism 110 can puncture the lesion area of the patient 300 to complete the interventional puncture operation. The puncturing mechanism 110 is disposed beside the imaging device 400 (at the port of the scanning cavity 410 ). After the patient 300 is moved to the scanning cavity 410 by the patient bed 200 , the puncturing mechanism 110 next to the imaging device 400 can be inserted into the scanning cavity 410 , which is convenient to realize the The puncture in cavity 410 is scanned. The position and posture adjustment component 111 first drives the interventional instrument 112 to move into the scanning cavity 410 , and after the lesion area is determined, the position and posture adjustment component 111 drives the interventional instrument 112 to move according to the real-time image scanned by the imaging device 400 to penetrate the lesion of the patient 300 area, complete the interventional puncture procedure. In addition, the puncture mechanism 110 can accurately puncture the lesion area of the patient 300 after cooperating with the imaging device 400, ensuring that the interventional puncture operation can complete the puncture process accurately, efficiently and safely. It can be understood that the puncture mechanism 110 can complete the puncture autonomously, or can be controlled by the medical staff to complete the puncture, which will be mentioned later.

The puncturing mechanism 110 includes a position and posture adjustment component 111 and an interventional instrument 112 . The position and attitude adjustment assembly 111 is arranged beside the imaging device 400, and the interventional instrument 112 is installed at the output end of the position and attitude adjustment assembly 111. When the position and attitude adjustment assembly 111 moves, it can drive the interventional instrument 112 to move synchronously, so that the position and attitude adjustment The assembly 111 can drive the interventional instrument 112 to extend into the scanning cavity 410 , so that the interventional instrument 112 can move to the vicinity of the lesion area, and then the position and posture adjustment assembly 111 drives the interventional instrument 112 to perform the interventional puncture operation. The position and posture adjustment component 111 has a movement capability of no less than two degrees of freedom, which can realize the adjustment of position and/or posture, and then realize the adjustment of the position of the interventional instrument 112, so that the interventional instrument 112 can accurately move to the vicinity of the lesion area , and puncture the lesion area of the patient 300 with an accurate intervention angle and posture.

Optionally, the interventional instrument 112 is a puncture needle. Puncture needles include, but are not limited to, biopsy needles, radiofrequency ablation needles, microwave ablation needles, or puncture and drainage needles. Of course, in other embodiments of the present invention, the interventional instrument 112 may also include non-contact treatment components and the like. Non-contact treatment components include, but are not limited to, radiation sources used for radiotherapy.

When the interventional puncture system 100 of the above embodiment is used for the interventional puncture operation, the patient bed 200 drives the patient 300 to enter the scanning cavity 410 of the imaging device 400 together, so that the scanning cavity 410 can image the lesion area of the patient 300; The puncturing mechanism 110 at one end extends into the scanning cavity 410. After the lesion area is determined, the position and posture adjustment component 111 can drive the interventional instrument 112 to move according to the real-time image scanned by the imaging device 400 to penetrate the lesion area of the patient 300, and the intervention is completed. Puncture surgery. During the interventional puncture operation, the puncture mechanism 110 can be located in the scanning cavity 410 , which effectively solves the problem that medical staff cannot reach into the middle of the aperture with bare hands to perform the interventional operation, and facilitates puncturing in the scanning cavity 410 . At the same time, the position and posture adjustment component 111 drives the interventional instrument 112 to cooperate with the imaging device 400 to accurately penetrate the lesion area of the patient 300, ensuring that the interventional puncture operation can complete the puncture process accurately, efficiently and safely.

Referring to FIG. 7 , optionally, the puncturing mechanism 110 is fixedly arranged. In one embodiment, the piercing mechanism 110 is fixedly arranged at the end of the imaging device 400 , or the piercing mechanism 110 is fixedly arranged at an installation reference near the end of the imaging device 400 , and the installation reference includes the ground or a mounting seat fixed to the ground. Optionally, the puncturing mechanism 110 can be fixed on the end face of the imaging device 400 , so that the puncturing mechanism 110 can extend into the scanning cavity 410 ; Optionally, the piercing mechanism 110 may also be fixedly arranged on an installation reference beside the imaging device 400 . Mounting datums include but are not limited to mounts or ground. That is to say, the puncturing mechanism 110 can be directly fixed on the ground, or can be fixed on the ground through a mounting seat. Moreover, the puncture mechanism 110 is fixed on the ground and close to the end face of the imaging device 400 , which can reduce the occupied space and shorten the distance between the puncture mechanism 110 and the scanning cavity 410 to facilitate the penetration of the puncture mechanism 110 .

Referring to FIGS. 1 and 2 , optionally, the puncturing mechanism 110 is movably disposed at one end of the imaging device 400 . That is, during the interventional puncture operation, the puncture mechanism 110 is moved to one end of the imaging device 400, and when the interventional puncture operation is completed, the puncture mechanism 110 is removed. This can prevent the puncturing mechanism 110 from occupying space. When the diagnosis and treatment equipment is used in other occasions, the interference between the puncturing mechanism 110 and medical staff or other objects can also be avoided, thereby ensuring operation safety.

In one embodiment, the interventional puncture system 100 further includes a moving base 140 with rollers, the moving base 140 can slide along the ground, and the puncturing mechanism 110 is installed on the moving base 140 . When performing an interventional puncture operation, the moving base 140 can drive the puncturing mechanism 110 to move to one end of the imaging device 400 , so that the puncturing mechanism 110 extends into the scanning cavity 410 . The puncture mechanism 110 is installed above the moving base 140 , and the moving base 140 can slide along the ground through the bottom roller, so that the moving base 140 drives the puncturing mechanism 110 to move to the end of the imaging device 400 . The movable seat 140 can reduce the labor intensity of the medical staff and facilitate the movement of the puncturing mechanism 110 . Of course, in other embodiments of the present invention, the puncture mechanism 110 can also be installed on the moving base 140 without rollers. At this time, the medical staff can move the puncture mechanism 110 by carrying.

In one embodiment, the interventional puncture system 100 further includes a sliding track, the sliding track is laid on the peripheral side of the imaging device 400 , and the puncturing mechanism 110 is slidably installed on the sliding track. When performing an interventional puncture operation, the puncture mechanism 110 can move to one end of the imaging device 400 along the sliding track, so that the puncture mechanism 110 can extend into the scanning cavity 410 . The sliding track may be laid around the imaging device 400 , and the puncturing mechanism 110 may slide along the sliding track, and then slide to the end of the imaging device 400 , or slide away from the end of the imaging device 400 . The shape of the sliding track can be a straight line, a curved line, or a straight line and a curved line.

Optionally, the movement of the puncturing mechanism 110 in the sliding track may be an active drive or a passive area. In the case of active driving, the driving force of the puncturing mechanism 110 is provided by a sliding driver, which is the power source of the puncturing mechanism 110 and can drive the puncturing mechanism 110 to move along the sliding track to adjust the position of the puncturing mechanism 110 relative to the imaging device 400 . . Optionally, the sliding driving member includes, but is not limited to, a motor, an air cylinder, a hydraulic cylinder, a piezoelectric ceramic, etc., and may also be other actuators capable of driving the puncturing mechanism 110 . When driven passively, the puncturing mechanism 110 can be manually controlled by the medical staff to slide along the sliding track.

Referring to FIG. 2 to FIG. 6 , in one embodiment, the position and attitude adjustment assembly 111 includes a mounting member 1111 , a multi-degree-of-freedom moving member 1112 rotatably mounted on the mounting member 1111 , and a The clamping member 1113 is used for clamping the interventional instrument 112, and the multi-degree-of-freedom moving member 1112 can drive the clamping member 1113 to extend into the scanning cavity 410 to move the interventional instrument 112 to the vicinity of the lesion area. The mounting member 1111 is a bearing component of the position and attitude adjustment assembly 111 , which can carry various components of the position and attitude adjustment assembly 111 , and the position and attitude adjustment assembly 111 is installed on the ground or the movable seat 140 through the mounting member 1111 . Optionally, the mounting member 1111 is a mounting rod or a mounting seat. Further, the mounting member 1111 can be telescopically arranged to adjust the position of the multi-degree-of-freedom moving member 1112 . In addition, the power source for the extension and retraction of the mounting member 1111 is a motor, an air cylinder, a hydraulic cylinder, a piezoelectric ceramic or the like.

The multi-degree-of-freedom moving member 1112 can realize movement of at least two degrees of freedom, and is a component that realizes multi-degree-of-freedom movement of the position and posture adjustment assembly 111 to realize the adjustment of the position and/or posture of the interventional instrument 112 . It can be understood that the multi-degree-of-freedom motion member 1112 can control at least two of the interventional instrument 112 to rotate, move, swing, and the like. The specific structure of the multi-degree-of-freedom moving member 1112 is mentioned below. The clamping member 1113 is used for clamping the interventional instrument 112, so that the interventional instrument 112 can be reliably installed in the position and posture adjusting assembly 111, and the interventional instrument 112 can be prevented from falling off during the operation. One end of the multi-degree-of-freedom moving member 1112 is movably mounted on the mounting member 1111 , and the other end is movably mounted on the clamping member 1113 . In this way, the multi-degree-of-freedom moving member 1112 can move relative to the mounting member 1111, thereby driving the clamping member 1113 and the interventional instrument 112 therein to move.

2 to 6 , in one embodiment, the multi-degree-of-freedom moving member 1112 includes a rotatable rotating member 11121, a rotatable rotating member 11122, and a pushing member 11123, and the pushing member 11123 can install the clamping member 1113 and push the The interventional instrument 112 in the holding member 1113 performs the interventional puncture operation, and the rotating member 11122 and the rotating member 11121 can drive the pushing member 11123 to move to adjust the intervention angle of the interventional instrument 112 .

The rotating member 11121 can make the multi-degree-of-freedom moving member 1112 have the degree of freedom of swing motion, and the rotating member 11122 can make the multi-degree-of-freedom moving member 1112 have the rotational degree of freedom. The multi-degree-of-freedom moving member 1112 generates movement displacement. It can be understood that the rotating member 11121 is rotatably mounted on the mounting member 1111, and the rotating member 11122 is rotatably mounted on the rotating member 11121; the rotating member 11122 can also be rotatably mounted on the mounting member 1111, and the rotating member 11121 is rotatably mounted on the rotating part 11122. In addition, the number of the rotating member 11121 and the rotating member 11122 is one or more, the rotating member 11121 includes but is not limited to a rotating link, and the rotating member 11122 includes but is not limited to a rotating link. Optionally, the rotating member 11121 and the rotating member 11122 have a driving capability, so as to realize the driving of the movement of the rotating member 11121 and the rotating member 11122 . Further, the driving capability can be realized by means of a motor, an air cylinder, a hydraulic cylinder, or a piezoelectric ceramic.

The pushing member 11123 is mounted on the end of the rotating member 11122 or the rotating member 11121, and the clamping member 1113 is movably mounted thereon. The pusher 11123 is used to push the interventional instrument 112 so that the interventional instrument 112 penetrates the lesion area of the patient 300 . It can be understood that the position and posture of the interventional instrument 112 are adjusted relative to the mounting member 1111 through the rotation of the rotating member 11121 and the rotating member 11122, so that the interventional instrument 112 is positioned above the lesion area with an optimal intervention angle. Then, the pushing member 11123 pushes the clamping member 1113 to drive the interventional instrument 112 to move linearly along the intervention angle, so that the interventional instrument 112 penetrates the lesion area of the patient 300 . Optionally, the pushing member 11123 includes a casing and a linear motion member disposed in the casing, and the clamping member 1113 is located in the casing and mounted on the end of the linear motion member. When the linear motion member moves, the clamping member 1113 can be pushed to drive the interventional instrument 112 to move. Further, the linear motion components include but are not limited to linear motors, hydraulic cylinders, air cylinders or other components that can output linear motion.

Of course, the pusher 11123 can also be a component of the telecentric fixed point function used in the current operation. After the rotation member 11121 and the rotation member 11122 ensure the intervention angle of the interventional instrument 112, the pusher 11123 can ensure the position of the interventional instrument 112. Fixed with posture. Subsequently, the pusher 11123 can implement the rotation control and push control of the interventional instrument 112 , so that the interventional instrument 112 can accurately penetrate the lesion area of the patient 300 . The components of the telecentric fixed point function are composed of multi-links to form a stable support mechanism, which is in the prior art and will not be described in detail here. In addition, the pusher 11123 has a driving ability, so as to realize the driving of the movement of the pusher. Further, the driving capability can be realized by means of a motor, an air cylinder, a hydraulic cylinder, or a piezoelectric ceramic.

Exemplarily, as shown in FIG. 2 and FIG. 3 , FIG. 3 is a schematic diagram of an embodiment of the multi-degree-of-freedom moving member 1112 in the puncturing mechanism 110 . In this embodiment, the rotating member 11121 includes two horizontal links and one swing link, the two horizontal links are rotatably connected, one of the horizontal links is rotatably connected to the mounting member 1111, and the other horizontal link is rotatable The rotating member 11122 is installed, the swing link is installed at the end of the rotation member 11122, the push member 11123 is installed at the end of the swing link, and the clamp member 1113 is movably installed in the push member 11123. At this time, the mounting member 1111 can be directly mounted on the moving box or the ground. In this way, the movement of the two horizontal links can drive the rotating member 11122, the swing link and the pushing member 11123 to extend, so that the interventional instrument 112 moves to the upper part of the lesion area. The rotation of the rotating member 11122 and the swinging of the swing link can drive the pusher 11123 and the interventional instrument 112 therein to move, so as to adjust the posture of the interventional instrument 112 so that the interventional instrument 112 is positioned above the lesion area at an accurate intervention angle.

Exemplarily, as shown in FIG. 5 , FIG. 5 is a schematic diagram of the third embodiment of the multi-degree-of-freedom moving member 1112 in the puncturing mechanism 110 . In this embodiment, the multi-DOF moving member 1112 includes a rotatable rotating member 11122 and a swingable rotating member 11121. One end of the rotating member 11121 is swingably connected to the end of the mounting member 1111, and the other end of the rotating member 11121 is swingably connected. One end is rotatably connected to the rotating member 11122 , and the pushing member 11123 is connected to the end of the rotating member 11122 away from the rotating member 11121 . At this time, the mounting member 1111 can be directly mounted on the ground or mounted on the moving base 140 . The cooperation of the rotating member 11122 and the rotating member 11121 can drive the pushing member 11123 and the interventional instrument 112 therein to move, so as to adjust the posture of the interventional instrument 112 so that the interventional instrument 112 is positioned above the lesion area at an accurate intervention angle.

Exemplarily, as shown in FIG. 3 , FIG. 3 is a schematic diagram of another embodiment of the multi-degree-of-freedom moving member 1112 in the puncturing mechanism 110 . In this embodiment, the pushing member 11123 is installed on the end of the rotating member 11122, the rotating member 11122 is rotatably installed on the rotating member 11121, the pushing member 11123 is installed at the end of the rotating member 11121, and the rotating member 11121 is away from the end of the pushing member 11123 The rotating member 11122 is rotatably installed, and the end of the rotating member 11122 away from the rotating member 11121 is rotatably installed with the installation member 1111 . When the multi-degree-of-freedom moving member 1112 moves, the rotating member 11122 can drive the rotating member 11121 and the pushing member 11123 to rotate relative to the mounting member 1111, and the cooperation between the rotating member 11121 and the pushing member 11123 can drive the pushing member 11123 and the interventional instrument 112 therein. The movement is performed to adjust the posture of the interventional instrument 112 so that the interventional instrument 112 is positioned above the lesion area at an accurate intervention angle. The multi-degree-of-freedom moving member 1112 in this embodiment can be fixed on the ground or installed on the mounting seat through the mounting member 1111 .

The pusher 11123 in the above embodiments can be either a linear motion component or a component with a telecentric point function.

Referring to FIG. 6 , in one embodiment, the multi-degree-of-freedom moving member 1112 includes a serial manipulator and/or a parallel manipulator. That is to say, the multi-degree-of-freedom moving member 1112 may include a plurality of serial manipulators, and the interventional puncture operation can be implemented by connecting the multiple serial manipulators. The multi-degree-of-freedom moving part 1112 may also include multiple parallel manipulator arms, and the interventional puncture operation can be implemented by connecting the multiple parallel manipulator arms. Of course, the multi-degree-of-freedom moving part 1112 may also include at least one serial manipulator and at least one parallel manipulator, and the interventional puncture operation can be realized through the cooperation of the serial manipulator and the parallel manipulator. At this time, the parallel manipulator is located at the end of the serial manipulator. . It can be understood that the serial manipulator includes a plurality of single arms, and adjacent single arms are rotatably connected. Parallel manipulators may include, for example, a stewart platform.

Exemplarily, as shown in FIG. 6 , the multi-degree-of-freedom moving part 1112 includes a plurality of serial manipulators, and the interventional puncture operation is completed according to real-time images through the connection of the multiple serial manipulators. The serial robotic arm assembly is mounted on the moving base 140 through the mounting member 1111, or is directly fixed on the ground.

In one embodiment, the multi-degree-of-freedom motion member 1112 includes a serial manipulator and/or a combination of a parallel manipulator and a flexible manipulator. That is to say, the multi-degree-of-freedom moving member 1112 may include a plurality of serial manipulators and a flexible manipulator located at the end of the serial manipulator, on which a clamping member 1113 is mounted. The multi-degree-of-freedom moving member 1112 may also include a plurality of parallel manipulator arms and a flexible manipulator arm located at the end of the parallel manipulator arms. A clamp 1113 is installed on the flexible manipulator arm to implement an interventional puncture operation. Of course, the multi-degree-of-freedom moving member 1112 may also include at least one serial manipulator, at least one parallel manipulator, and a flexible manipulator. The flexible manipulator is mounted with a clamping member 1113. Cooperate to achieve interventional puncture surgery.

It should be noted that the essence of the multi-degree-of-freedom moving member 1112 is that it can have a multi-degree-of-freedom driving mode, thereby realizing any adjustment of the position and/or posture of the interventional instrument 112 . Several specific implementation forms of the multi-degree-of-freedom moving member 1112 are introduced in the above-mentioned embodiments, but the settings of the multi-degree-of-freedom driving modes are various and cannot be exhaustive. accomplish.

1 and 7 , the present invention further provides a diagnosis and treatment equipment, including an imaging device 400 (imaging body) having a scanning cavity 410 , a hospital bed 200 carrying a patient 300 , and the interventional puncture system 100 in the above embodiments. The interventional puncture system 100 is located at one end of the imaging device 400 and can extend into the scanning cavity 410 . After the patient bed 200 enters the scanning cavity 410 , the interventional puncture system 100 can perform an interventional puncture operation on the lesion area of the patient 300 . After the interventional puncture system 100 of the above-mentioned embodiment is used in the diagnosis and treatment equipment of the present invention, the imaging device 400 can accurately locate the lesion area of the patient 300 and perform real-time imaging of the lesion area. Nearby, the puncture mechanism 110 can be inserted into the scanning cavity 410 during the interventional puncture operation. After the lesion area is determined, the position and posture adjustment component 111 can directly drive the interventional instrument 112 to move according to the real-time image scanned by the imaging device 400 to puncture the patient. 300 of the lesion area, complete the interventional puncture operation. In addition, the puncture mechanism 110 is located near the end face of the imaging device 400, and can be directly inserted into the scanning cavity 410 during use, without the need for medical staff to extend into the scanning cavity 410 for interventional puncture operation, thereby ensuring the effect of the interventional puncture operation.

The imaging device 400 (imaging body) may be a magnetic resonance imaging (Magnetic Resonance Imaging, MR) device (body), a Positron Emission Computed Tomography (PET) device (body), a computerized tomography (Computed Tomography) device (body) Tomography, CT) equipment (body), PET-MR equipment (body), PET-CT equipment (body), and so on.

In one embodiment, the diagnosis and treatment device further includes a control system that is connected to the imaging device 400 and the interventional puncture system 100. After the control system receives the real-time imaging of the lesion area by the imaging device 400, the control system can control the interventional puncture system 100 according to the real-time imaging. The position and attitude adjustment assembly 111 drives the interventional instrument 112 to move to the vicinity of the lesion area, and controls the position and attitude adjustment assembly 111 to drive the interventional instrument 112 to perform an interventional puncture operation. Alternatively, the diagnosis and treatment equipment further includes a control system connected to the interventional puncture system 100. The control system can control the position and posture adjustment component 111 of the interventional puncture system 100 to drive the interventional instrument 112 to move to the vicinity of the lesion area, and control the position and posture adjustment component 111 to drive The interventional instrument 112 performs an interventional puncture procedure. It can be understood that the transmission connection here may be a wired connection or a wireless connection such as a communication connection.

When the puncture mechanism 110 completes the puncture autonomously, after the control system receives the dynamic information of the lesion area fed back by the imaging device 400, the control system can generate a real-time image of the lesion area from the dynamic information through information processing, and then the control information can determine the position of the puncture mechanism 110. and the position of the lesion area are processed to obtain the distance between the puncture mechanism 110 and the lesion area, and the movement path of the puncture mechanism 110 to move to the vicinity of the lesion area is planned to obtain a predetermined planned path; Planning from the perspective of the area to obtain a predetermined intervention angle. Then, the control system controls the puncture mechanism 110 to move to the vicinity of the lesion area according to a predetermined planned path, and then the control system controls the puncture mechanism 110 to perform an intervention operation according to a predetermined intervention angle. Moreover, in the process of interventional puncture, the medical staff can observe the relative positional relationship between the puncture mechanism 110 and the lesion area in real time to avoid deviation. Of course, the predetermined planned path and the predetermined intervention angle can also be manually planned by the medical staff. It can be understood that the information processing and the position processing of the control system are in the prior art, and details are not described here.

When the puncture mechanism 110 is controlled by medical staff to perform interventional puncture, after the control system receives the dynamic information of the lesion area fed back by the imaging device 400 , the control system can generate a real-time image of the lesion area from the dynamic information through information processing. Then, the medical staff can control the movement of the puncturing mechanism 110 through a control system such as a remote control, a joystick, etc., and the medical staff can observe the relative positional relationship between the puncturing mechanism 110 and the lesion area in real time, so as to control the movement of the puncturing mechanism 110 to Above the lesion area of the patient 300, at the same time, the position and posture adjustment component 111 adjusts the intervention angle of the interventional instrument 112 to match the current real-time image of the lesion area. Subsequently, the medical staff controls the position and posture adjustment component 111 through a control system such as a remote control, a joystick, etc. to drive the interventional instrument 112 to perform an interventional puncture operation. Moreover, in the process of interventional puncture, the medical staff can adjust the interventional instrument 112 according to the real-time image of the lesion area.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope of description in this specification.

The above-mentioned embodiments only represent several embodiments of the present invention, and the descriptions thereof are specific and detailed, but should not be construed as limiting the scope of the present invention. It should be pointed out that for those of ordinary skill in the art, some modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for this utility model shall be subject to the appended claims.

Claims (10)

1. An interventional puncture system is characterized by comprising a puncture mechanism which is positioned at one end of an imaging device and can extend into a scanning cavity of the imaging device, wherein after a sickbed enters the scanning cavity, the puncture mechanism can perform interventional puncture operation;

puncture mechanism is including being located the position and the attitude adjustment subassembly of imaging device one end and set up in the intervention apparatus of position and attitude adjustment subassembly tip, position and attitude adjustment subassembly can drive intervention apparatus stretches into scanning chamber and motion to sick bed top to intervene the puncture operation.

2. The interventional puncture system of claim 1, wherein the puncture mechanism is fixedly disposed at an end of the imaging device or a mounting reference disposed near the end of the imaging device, the mounting reference comprising a ground surface or a mounting base secured to the ground surface.

3. The interventional puncture system of claim 1, wherein the puncture mechanism is movably disposed at one end of the imaging device.

4. The interventional puncture system of claim 3, further comprising a mobile hub having a roller, the mobile hub being slidable along a ground surface, the puncture mechanism being mounted to the mobile hub.

5. The interventional puncture system of claim 3, further comprising a sliding track disposed on a peripheral side of the imaging device, the puncture mechanism being slidably mounted to the sliding track.

6. The interventional puncture system of any one of claims 1 to 5, wherein the position and orientation adjustment assembly comprises a mounting member, a multi-degree-of-freedom motion member rotatably mounted on the mounting member, and a clamping member disposed at an end of the multi-degree-of-freedom motion member, the clamping member being configured to clamp the interventional instrument, and the multi-degree-of-freedom motion member being configured to drive the clamping member to extend into the scanning lumen.

7. The interventional puncture system of claim 6, wherein the multiple degree of freedom motion member comprises a rotatable rotating member, and a pushing member, the pushing member is capable of mounting the holder and pushing the interventional instrument in the holder for interventional puncture, and the rotating member are capable of driving the pushing member to move to adjust an interventional angle of the interventional instrument.

8. The interventional puncture system of claim 6, wherein the multiple degree of freedom motion includes a serial robotic arm and/or a parallel robotic arm;

or the multi-degree-of-freedom motion piece comprises a serial mechanical arm and/or a parallel mechanical arm and flexible mechanical arm combination.

9. A medical device comprising an imaging device having a scanning chamber, a patient-carrying bed, and an interventional puncture system according to any one of claims 1 to 8;

the interventional puncture system is positioned at one end of the imaging device and can extend into the scanning cavity, and after the sickbed enters the scanning cavity, the interventional puncture system can perform interventional puncture operation on a focus area of a patient;

wherein the imaging device is an MR device, a PET/MR device, a CT device, a PET/CT device.

10. The medical equipment according to claim 9, further comprising a control system in transmission connection with the imaging device and the interventional puncture system, wherein after the control system receives the real-time imaging of the focal region by the imaging device, the control system controls the position and posture adjustment component of the interventional puncture system to drive the interventional device to move to the vicinity of the focal region according to the real-time imaging, and controls the position and posture adjustment component to drive the interventional device to perform an interventional puncture operation;

or, the diagnosis and treatment equipment further comprises a control system connected with the interventional puncture system, the control system can control the position and posture adjusting component of the interventional puncture system to drive the interventional instrument to move to the position near the focus area, and control the position and posture adjusting component to drive the interventional instrument to perform interventional puncture operation.

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