CN113598910B - Coplanar constraint ultrasonic guided puncture device based on micro-motor control - Google Patents
Coplanar constraint ultrasonic guided puncture device based on micro-motor control Download PDFInfo
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- CN113598910B CN113598910B CN202111005357.5A CN202111005357A CN113598910B CN 113598910 B CN113598910 B CN 113598910B CN 202111005357 A CN202111005357 A CN 202111005357A CN 113598910 B CN113598910 B CN 113598910B
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
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Abstract
The invention relates to a coplanar constraint ultrasonic guided puncture device based on micro-motor control, and belongs to the technical field of ultrasonic equipment. The ultrasonic guiding puncture device comprises an ultrasonic probe, a connecting mechanism and a puncture mechanism, wherein the connecting mechanism can realize coplanar constraint between a puncture needle and an ultrasonic detection effective sector through the transmission of a motor-driving pulley-tensioning pulley-redirecting pulley-synchronous belt-linear sliding rail-pushing rod mechanism in the connecting mechanism according to the information fed back by the ultrasonic probe, and simultaneously can realize large transmission ratio by widely adjusting the puncture angle.
Description
Technical Field
The invention belongs to the technical field of ultrasonic equipment, and relates to a coplanar constraint ultrasonic guided puncture device based on micro-motor control.
Background
The traditional venipuncture is mostly judged by naked eyes or touch of hands, and the mode is mostly dependent on experience and hand feeling of operators, so that puncture failure is easy to cause. It is counted that in current clinical work, the venipuncture failure rate is as high as 20%. For tumor patients taking chemotherapy as a main treatment method, the chemotherapy drugs have larger damage to blood vessels and tissues, so that the patients are more difficult to puncture by veins, meanwhile, the patients are weak, the shallow vein wall scars can be caused by repeated venipuncture, and the difficulty of re-puncture is further increased. Therefore, how to increase the success rate of one puncture, avoid the discomfort brought to patients, especially tumor patients, by repeated puncture, and is an important issue for the attention of patients, families and medical staff. Ultrasound assisted puncture proves to be an effective venipuncture guiding technology, but the electronic control type medical equipment has the advantages of good repeatability and high precision, and some mechanisms combine the advantages of the two to develop the research of the electronic control type puncture equipment guided by medical images such as ultrasound.
The puncturing method under the guidance of ultrasound is divided into two puncturing methods in plane and out of plane. The in-plane puncture method can completely display the needle insertion route and dynamically observe the puncture process, but because the puncture route is long, the puncture needle and the target blood vessel are required to be always kept in an ultrasonic image in the puncture process, and the technical requirement on an operator is higher. Because the ultrasonic sound beam is narrower, it is common for the needle tip of the puncture needle to come out of the sound beam. So that an operator is required to have a high coordination capability between the probe and the needle. And the effective scanning of the ultrasonic probe is a very thin sector area, and the puncture needle is expected to be always positioned on the sector plane during the puncture process. This is not done by conventional manual lancing.
At present, auxiliary devices and abdominal cavity puncture devices for chest puncture biopsy are reported in China, but robots suitable for intravenous blood sampling are developed and started later, beijing Michaels corporation and Shanghai Michaels corporation have developed robots suitable for intravenous blood sampling in recent years, but no mature electronic control equipment special for intravenous puncture exists in China. The company Vasculogic developed a robot for venous blood drawing, which uses a vascular imaging instrument and in-plane ultrasound to assist in guiding puncture, but is limited by the vascular imaging instrument being able to puncture only shallow veins (less than 10mm in depth). In general, the current robots suitable for venipuncture are mainly used for collecting blood from shallow veins in hospitals and communities, can not meet the use requirements of chemotherapy puncture tube placement operation, and adopt four-axis and six-axis mechanical arms, so that the robot has large volume and inconvenient movement, and is not suitable for bedside venipuncture requirements of tumor patients.
Therefore, the electric control type ultrasonic guided puncture device which can be adapted to the existing ultrasonic detection device and puncture needle to provide coplanar constraint puncture guiding with multiple degrees of freedom, has flexible operation, small occupied space, accurate puncture and higher integration level of functions, is convenient to mount and dismount, greatly improves the accuracy and efficiency of operation, and is beneficial to popularization of accurate minimally invasive operation.
Disclosure of Invention
In view of the above, the present invention aims to provide an ultrasound guided penetration device capable of realizing electrically controlled coplanar constraint.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a coplanar restraint ultrasonic guided puncture device based on micro-motor control comprises an ultrasonic probe 1, a connecting mechanism 2 and a puncture mechanism 3;
The connecting mechanism 2 is connected to the ultrasonic probe 1, one end of the puncture mechanism 3, which is close to the skin, is hinged to a fastener III 6at the head of the ultrasonic probe, and the middle part of the puncture mechanism 3 is connected with the middle part of the connecting mechanism 2 through a connecting rod 8;
The connecting mechanism 2 comprises a connecting mechanism supporting plate 12, a connecting mechanism shell 16, a linear guide rail I17, an angle control motor 10, a driving belt pulley I11, a tensioning wheel 13, a direction-changing belt pulley I14, a connecting block III 18, a connecting rod 15 and a first synchronous belt;
the connecting mechanism shell 16 is provided with a connecting mechanism supporting plate 12, the connecting mechanism supporting plate 12 is provided with a linear guide rail I17, a driving pulley I11 and a redirecting pulley I14 are arranged on the connecting mechanism shell 16 from top to bottom at intervals, a tensioning wheel 13 is fixedly arranged in the middle of the connecting mechanism shell 16 by two connecting rods 15, one side of a first synchronous belt is wound on the driving pulley I11, the tensioning wheel 13 and the redirecting pulley I14, the other side of the first synchronous belt is fixed on a sliding block of the linear guide rail I17, the sliding block of the linear guide rail I17 is rotatably connected with a connecting rod 8 through a connecting block III 18, and an angle control motor 10 is fixedly arranged on the connecting mechanism shell 16 and the output end of the angle control motor is connected with a wheel shaft of the driving pulley I11;
Further, the connecting rod 15 is provided with a chute, the chute is fixedly connected with a hole corresponding to the middle part of the connecting mechanism shell 16, and the first synchronous belt can be tensioned by adjusting the relative position of the chute and the connecting mechanism shell 16.
Further, the connecting mechanism 2 is connected to the ultrasonic probe 1 in an outward inclined manner, so that an acute angle phi is formed between the connecting mechanism 2 and the central axis of the ultrasonic probe 1, and the puncture angle adjustment of the puncture mechanism 3 is ensured to meet the puncture requirement.
Further, the connecting mechanism 2 is connected to the ultrasonic probe 1 through a fastener I4 and a fastener II 5, the fastener I4 and the fastener II 5 are installed on the ultrasonic probe 1 from top to bottom, and the length of the fastener I4 is longer than that of the fastener II 5.
Further, the puncture mechanism 3 comprises a barrel control motor 24, a plug control motor 19, a puncture mechanism left shell 27, a puncture mechanism right shell 26, a puncture mechanism supporting plate 21, a driving pulley II 25, a redirecting pulley II 23, a driving pulley III 20, a redirecting pulley III 22, a linear guide rail II 31 and a linear guide rail III 33;
The puncture mechanism right shell 26 is connected to the puncture mechanism left shell 27, the puncture mechanism supporting plate 21 is fixedly connected in the puncture mechanism right shell 26, the linear guide rail II 31 is fixed on the puncture mechanism left shell 27, the driving pulley II 25 and the redirecting pulley II 23 are installed on the puncture mechanism left shell 27 from bottom to top, one side of the second synchronous belt is wound on the driving pulley II 25 and the redirecting pulley II 23, the other side of the second synchronous belt is fixed on the sliding block of the linear guide rail II 31, the sliding block of the linear guide rail II 31 is connected with the needle cylinder connecting piece 30, and the needle cylinder of the puncture needle 29 is clamped by the needle cylinder connecting piece 30; the linear guide rail (comprising a sliding block) III 33 is fixed on the puncture mechanism supporting plate 21, the driving pulley III 20 and the redirecting pulley III 22 are arranged on the puncture mechanism right shell 26 from bottom to top, one side of the third synchronous belt is wound on the driving pulley III 20 and the redirecting pulley III 22, the other side of the third synchronous belt is fixed on the sliding block of the linear guide rail III 33, the piston connecting piece 32 is connected with the sliding block of the linear guide rail III 33, and the piston of the puncture needle 29 is fixed in the piston connecting piece 32;
the control cylinder motor 24 and the control plug motor 19 are both fixedly arranged on the right shell 26 of the puncture mechanism, the output end of the control cylinder motor 24 is connected with the wheel shaft of the driving pulley II 25, and the output end of the control plug motor 19 is connected with the wheel shaft of the driving pulley III 20.
Further, the control cylinder motor 24 and the control plug motor 19 are respectively arranged on two surfaces of the right casing 26 of the puncture mechanism, and linear guide rails respectively matched with the two motors are also arranged in corresponding planes.
Further, the angle control motor 10, the barrel control motor 24 and the plug control motor 19 are all electrically connected to a motor control system, encoders are all arranged on the other sides of the output ends of the three motors, and are all electrically connected with the motor control system, so that the control is more accurate.
Further, a control button of the motor control system is arranged on the fastening piece I4, and the control button on the fastening piece I4 is electrically connected with the motor control system.
The invention has the beneficial effects that:
According to the invention, the motor control system controls the connecting mechanism 2 to actively restrict the puncture mechanism 3, so that the puncture needle always moves in the plane of the effective range scanned by the ultrasonic probe 1, and the angle between the puncture needle and the skin is restricted to meet the requirement of venipuncture. The invention adopts motor drive, eliminates human error possibly generated during manual operation passive coplanarity auxiliary puncture. Compared with manual puncture, the invention has more accuracy and precision, and greatly improves the success rate of puncture. The invention provides three functions of multi-angle puncture, extraction and injection, integrates the functions highly, has flexible operation, small occupied space and convenient installation and disassembly, can be installed on a fixed operation platform, and can also be directly operated by a hand-held ultrasonic probe.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objects and other advantages of the invention may be realized and obtained by means of the instrumentalities and combinations particularly pointed out in the specification.
Drawings
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in the following preferred detail with reference to the accompanying drawings, in which:
FIG. 1 is a general schematic of the present invention;
FIG. 2 is a schematic diagram of the structure of the present invention;
FIG. 3 is a schematic view of the structure of the connecting mechanism 1;
FIG. 4 is a schematic structural view of the connecting mechanism 2;
FIG. 5 is a schematic view of the structure of the lancing mechanism 1;
FIG. 6 is a schematic view of the lancing mechanism 2;
Fig. 7 is an exploded view of the lancing mechanism.
Reference numerals: 1-ultrasonic probe, 2-connecting mechanism, 3-puncture mechanism, 4-fastener I, 5-fastener II, 6-fastener III, 7-connecting block I, 8-connecting rod, 9-connecting block II, 10-angle control motor, 11-driving pulley I, 12-connecting mechanism supporting plate, 13-tensioning wheel, 14-redirecting pulley I, 15-connecting rod, 16-connecting mechanism shell, 17-linear guide I (including slide block), 18-connecting block III, 19-plug control motor, 20-driving pulley III, 21-puncture mechanism supporting plate, 22-redirecting pulley III, 23-redirecting pulley II, 24-controlling cylinder motor, 25-driving pulley II, 26-puncture mechanism right shell, 27-puncture mechanism left shell, 28-needle cover, 29-puncture needle, 30-needle cylinder connecting piece, 31-linear guide (including slide block) II, 32-piston connecting piece, 33-linear guide (including slide block) III.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the illustrations provided in the following embodiments merely illustrate the basic idea of the present invention by way of illustration, and the following embodiments and features in the embodiments may be combined with each other without conflict.
Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to limit the invention; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there are terms such as "upper", "lower", "left", "right", "front", "rear", etc., that indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but not for indicating or suggesting that the referred device or element must have a specific azimuth, be constructed and operated in a specific azimuth, so that the terms describing the positional relationship in the drawings are merely for exemplary illustration and should not be construed as limiting the present invention, and that the specific meaning of the above terms may be understood by those of ordinary skill in the art according to the specific circumstances.
Referring to fig. 1-7, the coplanar restraint ultrasonic guided puncture device based on micro motor control comprises an ultrasonic probe 1, a connecting mechanism 2 and a puncture mechanism 3, wherein the connecting mechanism 2 is connected to the ultrasonic probe 1 in an outward inclined manner, so that an acute angle phi is formed between the connecting mechanism 2 and the central axis of the ultrasonic probe 1, the puncture angle adjustment of the puncture mechanism 3 is ensured to meet the puncture requirement, the connecting mechanism 2 is connected to the ultrasonic probe 1 through a fastener I4 and a fastener II 5, the fastener I4 and the fastener II 5 are arranged on the ultrasonic probe 1 from top to bottom, and the length of the fastener I4 is longer than that of the fastener II 5. The bottom of the puncture mechanism 3 is hinged with a fastener 6 III on the head of the ultrasonic probe, and the middle part of the puncture mechanism 3 is connected with the connecting rod 5 through a fixed connecting block II 9.
The connecting mechanism 2 comprises a connecting mechanism supporting plate 12, a connecting mechanism shell 16, a linear guide rail I17, an angle control motor 10, a driving belt pulley I11, a tensioning wheel 13, a direction-changing belt pulley I14, a connecting block III 18, a connecting rod 15 and a first synchronous belt;
The connecting mechanism shell 16 is provided with a connecting mechanism supporting plate 12, the connecting mechanism supporting plate 12 is provided with a linear guide rail I17, a driving pulley I11 and a redirecting pulley I14 are arranged on the connecting mechanism shell 16 from top to bottom at intervals, a tensioning wheel 13 is fixedly arranged in the middle of the connecting mechanism shell 16 by two connecting rods 15, one side of a first synchronous belt is wound on the driving pulley I11, the tensioning wheel 13 and the redirecting pulley I14, the other side of the first synchronous belt is fixed on a sliding block of the linear guide rail I17, the sliding block of the linear guide rail I17 is rotatably connected with a connecting rod 8 through a connecting block III 18, and an angle control motor 10 is fixedly arranged on the connecting mechanism shell 16 and the output end of the angle control motor is connected with a wheel shaft of the driving pulley I11. The angle control motor 10 is electrically connected to a motor control system, the motor control system can drive the angle control motor 10 to drive the driving pulley I11 according to information fed back to the motor control system by the ultrasonic probe 1, so that the direction-changing pulley I and the first synchronous belt are driven, the first synchronous belt drives the sliding block of the linear guide rail I17 to move, the sliding block of the linear guide rail I17 drives the plane motion of the connecting rod 8 through the connecting block III 18, and the plane motion of the connecting rod 8 drives the fan-shaped rotation of the piercing mechanism 3 because the bottom of the piercing mechanism 3 is hinged to the fastening piece 6 on the head of the ultrasonic probe, so that the piercing angle of the piercing mechanism 3 is regulated, and coplanar constraint is realized.
The puncture mechanism 3 comprises a barrel control motor 24, a plug control motor 19, a puncture mechanism left shell 27, a puncture mechanism right shell 26, a puncture mechanism supporting plate 21, a driving pulley II 25, a direction-changing pulley II 23, a driving pulley III 20, a direction-changing pulley III 22, a linear guide rail II 31 and a linear guide rail III 33;
The puncture mechanism right shell 26 is connected to the puncture mechanism left shell 27, the puncture mechanism supporting plate 21 is fixedly connected in the puncture mechanism right shell 26, the linear guide rail II 31 is fixed on the puncture mechanism left shell 27, the driving pulley II 25 and the redirecting pulley II 23 are arranged on the puncture mechanism left shell 27 from bottom to top, one side of the second synchronous belt is wound on the driving pulley II 25 and the redirecting pulley II 23, the other side of the second synchronous belt is fixed on the sliding block of the linear guide rail II 31, the sliding block of the linear guide rail II 31 is connected with the needle cylinder connecting piece 30, and the needle cylinder of the puncture needle 29 is clamped by the needle cylinder connecting piece 30; the linear guide rail (comprising a sliding block) III 33 is fixed on the puncture mechanism supporting plate 21, the driving pulley III 20 and the redirecting pulley III 22 are arranged on the puncture mechanism right shell 26 from bottom to top, one side of the third synchronous belt is wound on the driving pulley III 20 and the redirecting pulley III 22, the other side of the third synchronous belt is fixed on the sliding block of the linear guide rail III 33, the piston connecting piece 32 is connected with the sliding block of the linear guide rail III 33, and the piston of the puncture needle 29 is fixed in the piston connecting piece 32;
The control cylinder motor 24 and the control plug motor 19 are both fixedly arranged on the right shell 26 of the puncture mechanism, the output end of the control cylinder motor 24 is connected with the wheel shaft of the driving pulley II 25, and the output end of the control plug motor 19 is connected with the wheel shaft of the driving pulley III 20. The motor control system controls the synchronous rotation of the control cylinder motor 24 and the control plug motor 19, the rotation speed is the same, the second synchronous belt drives the needle cylinder of the puncture needle 19 to move through the needle cylinder connecting piece 30, the third synchronous belt drives the piston of the puncture needle 19 to move through the piston connecting piece 32, and at the moment, the needle cylinder and the piston of the puncture needle 19 do not have relative movement, so that puncture movement is performed. After reaching the appointed puncture position, the rotation of the cylinder control motor 24 is stopped, the needle cylinder of the puncture needle 19 stops moving, and only the plug control motor 19 is started to realize the independent movement of the piston of the puncture needle 19, the injection is carried out when the plug control motor 19 rotates forward, and the blood drawing is carried out when the plug control motor 19 rotates reversely.
According to the coplanar constraint ultrasonic guided puncture device based on micro-motor control, the puncture angle of the puncture mechanism 3 can be electrically adjusted through the angle control motor 10 in the motor control system driving connection mechanism 2, so that the puncture needle always moves in the plane of the effective range scanned by the ultrasonic probe 1, and the angle formed by the constraint puncture needle and the skin meets the requirement of venipuncture. This active co-planar constraint by motor drive eliminates human error that may occur when manually operated passive co-planar assisted lancing. Compared with manual puncture, the invention has more accuracy and precision, and greatly improves the puncture success rate and puncture efficiency. The multifunctional high integration of puncture, extraction and injection is realized through synchronous rotation and asynchronous rotation of the two micro motors in the puncture mechanism 3, the operation efficiency is greatly improved, and the workload of doctors is lightened through electric control type operation.
Specifically, referring to fig. 2-6, the fastener i 4, the fastener ii 5 and the fastener iii 6 are fastened on the body of the probe 1 through screws, the connecting mechanism 2 is connected with the body of the ultrasonic probe 1 through the fastener i 4 and the fastener ii 5, the fastener i 4, the fastener ii 5 and the fastener iii 6 are installed on the ultrasonic probe 1 from top to bottom, and the length of the connecting rod on the fastener i 4 is longer than that of the fastener 5, so that the connecting mechanism 2 and the central axis of the ultrasonic probe 1 form an acute angle phi, the puncture angle adjustment of the puncture mechanism 3 is ensured to meet the puncture requirement, the application scene of the puncture adjusting mechanism is more, and the use is more convenient.
The connecting block I7 is fixed on one end of the puncture mechanism right shell 27, which is close to the skin, through a screw, the fastening piece III 6 is fixed on the head of the ultrasonic probe 1, and the fastening piece III 6 and the connecting block I7 are connected through a hinge, so that the fixed-axis rotation of the puncture mechanism around the hinge position is realized. The two ends of the connecting rod 8 are respectively hinged with the connecting block III 18 and the connecting block II 9, so that the plane motion of the connecting rod 8 can drive the hinged part of the puncture mechanism 3 around the fastening piece III 6 and the connecting block I7 to rotate.
The connection mechanism supporting plate 12 is connected to the connection mechanism housing 16 through screws, two perforated bosses corresponding to the fastening pieces 4 and 5 are arranged on the connection mechanism supporting plate 12, the connection mechanism supporting plate is connected with the fastening pieces 4 and 5 through screws and nuts, a plurality of linear threaded holes are formed in the plate of the connection mechanism supporting plate 12, and the linear guide rail I (including a sliding block) 17 is fixed on the plate of the connection mechanism supporting plate 12 through screws. The slide block of the linear guide I17 is connected with the connecting block III 18 through a screw, and the first synchronous belt is fixed on the slide block of the linear guide I17. The right side shell of the connecting mechanism shell 16 is provided with a welded U-shaped groove, the U-shaped groove is provided with a threaded hole, one end of the angle control motor 10 is fixed through the threaded hole by a screw, and an output shaft of the angle control motor 10 is connected with a shaft of the driving pulley I11 by adopting a flange. The middle part of the connecting mechanism shell 16 is provided with two connecting rods 15, the shaft of the tensioning wheel 13 is fixed between the two connecting rods 15, the redirecting belt wheel I14 is fixedly connected with the left lower end of the mechanism shell 16, and the first synchronous belt is wound on the driving belt wheel I11, the tensioning wheel 13 and the redirecting belt wheel I14.
Further, the shaft where the tensioning wheel 13 is located is connected through two connecting rods 15, the connecting rods 15 are provided with sliding grooves, the heights of the synchronous belt wheels 13 and the connecting mechanism 2 can be adjusted by adjusting the fixed relative positions of the sliding grooves and the connecting mechanism shell 16, the function of adjusting the tensioning degree of the first synchronous belt is achieved, and the incompatibility of standard components and non-standard structural components can be contained.
Specifically, referring to fig. 5 to 7 with emphasis, the puncture mechanism 3 has three main structural members as a whole: a lancing mechanism right housing 26, a lancing mechanism left housing 27 and a lancing mechanism support plate 21. The puncture mechanism right housing 26, the puncture mechanism left housing 27 and the puncture mechanism support plate 21 are provided with threaded holes, and are connected by screws. The bottom plate of the left shell 27 of the puncture mechanism is provided with a linear threaded hole for fixing a linear guide rail II (comprising a sliding block) 31, the sliding block on the linear guide rail II 31 is connected with a needle cylinder connecting piece 30 through a screw, and a second synchronous belt is fixed on the sliding block of the linear guide rail II 31. The right shell 26 of the puncture mechanism is provided with two shaft holes which are respectively used for fixing the driving pulley III 20 and the redirecting pulley III 22 from bottom to top. The puncture mechanism left shell 27 is provided with two shaft holes, and corresponding shaft holes are arranged at corresponding positions of the puncture mechanism right shell 26 and the puncture mechanism supporting plate 21, and the driving pulley II 25 and the redirecting pulley II 23 are respectively fixed from bottom to top. The puncture mechanism supporting plate 21 is provided with a plurality of linear threaded holes for fixing a linear guide rail III (comprising a sliding block) 33, the sliding block on the linear guide rail III 33 is connected with a piston connecting piece 32 through a screw, the piston connecting piece 32 fixes a third synchronous belt on the sliding block of the linear guide rail III 33, and the piston connecting piece 32 is fixedly connected with a piston of the puncture needle 29. Two U-shaped grooves are welded on two adjacent surfaces on the shell of the right shell 26 of the puncture mechanism, the positions of the welded U-shaped grooves correspond to the positions of shafts of the driving belt pulley II 25 and the driving belt pulley III 20 respectively and are used for fixing one ends of the control cylinder motor 24 and the control plug motor 19, the output end of the control cylinder motor 24 is connected with the shaft of the driving belt pulley II 25, the output end of the control plug motor 19 is connected with the shaft of the driving belt pulley III 20, and the motor output shaft and the shaft of the driving belt pulley are connected by adopting flanges. The linear guide rail II (including the sliding block) 31 and the linear guide rail III (sliding block) 33 are respectively and correspondingly arranged on two different surfaces, not on the same plane, so that the purpose of the arrangement is to reduce the size of the whole structure and the occupation of the space through reasonable space arrangement.
Further, the angle control motor 10, the barrel control motor 24 and the plug control motor 19 are all electrically connected to a motor control system, encoders are all arranged on the other sides of the output ends of the three motors, the encoders are all electrically connected with the motor control system, and the encoders feed back the collected motor rotation speed to the motor control system to form closed loop control, so that the motor control is more accurate.
Further, be provided with motor control system's control button on the fastener I4, the control button on the fastener I4 is connected with motor control system electricity, sets up motor control system's operating button on the fastener I4 for make things convenient for the doctor to carry out multi-angle puncture, extraction and injection through the control button on the ultrasonic probe 1 under the circumstances that hand-held device operated, and not limited and operating system's position restriction independently accomplish the operation, very big promotion the convenience of operation.
The working flow of the embodiment of the coplanar constraint ultrasonic guided puncture device based on micro-motor control is as follows: according to the image detected by the ultrasonic probe 1, a doctor operates a motor control system to drive an angle control motor 10, the angle control motor 10 drives a driving pulley I11 to rotate, the driving pulley I11 drives a tensioning pulley 13 and a redirecting pulley I14 to rotate and drives a first synchronous belt, the first synchronous belt drives a sliding block of a linear guide rail I17 to move up and down, the sliding block of the linear guide rail I17 moves up and down and is converted into the rotation of a puncture mechanism 3 through a connecting rod 8, the purpose of automatically adjusting the puncture angle is achieved, coplanar constraint is achieved, the motor-driving pulley-tensioning pulley-redirecting pulley-synchronous belt-linear slide rail-push rod mechanism is achieved, a large transmission ratio can be achieved through a transmission mode, a very small motor is used for driving a heavy mechanism, and self-locking can be kept in the adjustment process. After the puncture mechanism 3 is adjusted to a proper angle, the motor control system drives the control cylinder motor 24 and the control plug motor 19 to drive the driving belt pulley II 25 and the driving belt pulley III 20, the driving belt pulley II 25 drives the redirecting belt pulley II 23 to rotate and drives the second synchronous belt, the second synchronous belt drives the sliding block of the linear guide rail II 31 to move up and down, the sliding block of the linear guide rail II 31 moves up and down and drives the needle cylinder of the puncture needle 29 to move up and down through the needle cylinder connecting piece 30, the driving belt pulley III 20 drives the redirecting belt pulley III 22 to rotate and drives the third synchronous belt, the third synchronous belt drives the sliding block of the linear guide rail III 33 to move up and down, and the sliding block of the linear guide rail III 33 moves up and down and drives the piston of the puncture needle 29 to move up and down through the piston connecting piece 32. When the motor control system controls the synchronous rotation of the control cylinder motor 24 and the control plug motor 19 and the rotation speeds are the same, the needle cylinder and the piston of the puncture needle 29 do not move relatively, and the puncture function is completed. The motor control system controls the synchronous rotation of the control cylinder motor 24 and the control plug motor 19, punctures when the rotation speeds are the same, stops the rotation of the control cylinder motor 24 after reaching the appointed puncture position, only starts the control plug motor 19 to realize the independent movement of the piston of the puncture needle 29, and the control plug motor 19 rotates reversely to extract and the control plug motor 19 rotates positively to inject.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the claims of the present invention.
Claims (7)
1. The utility model provides a coplanar restraint supersound guide piercing depth based on micro-motor control, includes ultrasonic probe (1), its characterized in that: the device also comprises a connecting mechanism (2) and a puncture mechanism (3);
The connecting mechanism (2) is connected to the ultrasonic probe (1), one end of the puncture mechanism (3) close to the skin is hinged to a fastener III (6) on the head of the ultrasonic probe, and the middle part of the puncture mechanism (3) is connected with the middle part of the connecting mechanism (2) through a connecting rod (8);
The connecting mechanism (2) comprises a connecting mechanism supporting plate (12), a connecting mechanism shell (16), a linear guide rail I (17), an angle control motor (10), a driving belt pulley I (11), a tensioning wheel (13), a direction-changing belt pulley I (14), a connecting block III (18), a connecting rod (15) and a first synchronous belt;
The connecting mechanism comprises a connecting mechanism shell (16), a connecting mechanism supporting plate (12) is arranged on the connecting mechanism shell (16), a linear guide rail I (17) is arranged on the connecting mechanism supporting plate (12), a driving belt wheel I (11) and a direction-changing belt wheel I (14) are arranged on the connecting mechanism shell (16) from top to bottom at intervals, a tensioning wheel (13) is fixedly arranged in the middle of the connecting mechanism shell (16) through two connecting rods (15), one side of a first synchronous belt is wound on the driving belt wheel I (11), the tensioning wheel (13) and the direction-changing belt wheel I (14), the other side of the first synchronous belt is fixed on a sliding block of the linear guide rail I (17), the sliding block of the linear guide rail I (17) is rotatably connected with a connecting rod (8) through a connecting block III (18), and an angle control motor (10) is fixedly arranged on the connecting mechanism shell (16) and the output end of the angle control motor is connected with a wheel shaft of the driving belt wheel I (11);
The puncture mechanism (3) comprises a barrel control motor (24), a plug control motor (19), a puncture mechanism left shell (27), a puncture mechanism right shell (26), a puncture mechanism supporting plate (21), a driving belt pulley II (25), a direction-changing belt pulley II (23), a driving belt pulley III (20), a direction-changing belt pulley III (22), a linear guide rail II (31) and a linear guide rail III (33);
The puncture mechanism right shell (26) is connected to the puncture mechanism left shell (27), the puncture mechanism supporting plate (21) is fixedly connected to the puncture mechanism right shell (26), the linear guide rail II (31) is fixed to the puncture mechanism left shell (27), the driving belt pulley II (25) and the redirecting belt pulley II (23) are arranged on the puncture mechanism left shell (27) from bottom to top, one side of the second synchronous belt is wound on the driving belt pulley II (25) and the redirecting belt pulley II (23), the other side of the second synchronous belt is fixed to the sliding block of the linear guide rail II (31), the sliding block of the linear guide rail II (31) is connected with the needle cylinder connecting piece (30), and the needle cylinder of the puncture needle (29) is clamped by the needle cylinder connecting piece (30); the linear guide rail (comprising a sliding block) III (33) is fixed on the puncture mechanism supporting plate (21), the driving pulley III (20) and the redirecting pulley III (22) are arranged on the puncture mechanism right shell (26) from bottom to top, one side of the third synchronous belt is wound on the driving pulley III (20) and the redirecting pulley III (22), the other side of the third synchronous belt is fixed on the sliding block of the linear guide rail III (33), the piston connecting piece (32) is connected with the sliding block of the linear guide rail III (33), and the piston of the puncture needle (29) is fixed in the piston connecting piece (32);
The control cylinder motor (24) and the control plug motor (19) are both fixedly arranged on a right shell (26) of the puncture mechanism, the output end of the control cylinder motor (24) is connected with the wheel shaft of the driving pulley II (25), and the output end of the control plug motor (19) is connected with the wheel shaft of the driving pulley III (20).
2. The micro-motor control-based coplanar restraint ultrasound guided puncture device according to claim 1, wherein: the connecting rod (15) is provided with a sliding groove which is fixedly connected with a connecting piece corresponding to the middle part of the connecting mechanism shell (16).
3. The micro-motor control-based coplanar restraint ultrasound guided puncture device according to claim 1, wherein: the connecting mechanism (2) is connected to the ultrasonic probe (1) in an outward inclined mode, so that the connecting mechanism (2) and the central axis of the ultrasonic probe (1) form an acute angle phi.
4. A micro-motor control based coplanar restraint ultrasound guided puncture device according to claim 3, wherein: the connecting mechanism (2) is connected to the ultrasonic probe (1) through a fastener I (4) and a fastener II (5), the fastener I (4) and the fastener II (5) are installed on the ultrasonic probe (1) from top to bottom, and the length of the fastener I (4) is longer than that of the fastener II (5).
5. The micro-motor control-based coplanar restraint ultrasound guided puncture device according to claim 1, wherein: the control cylinder motor (24) and the plug control motor (19) are respectively arranged on two surfaces of the right shell (26) of the puncture mechanism, and the linear guide rails respectively matched with the two motors are also arranged in corresponding planes.
6. The micro-motor control-based coplanar restraint ultrasound guided puncture device according to claim 1, wherein: the angle control motor (10), the barrel control motor (24) and the plug control motor (19) are all electrically connected to a motor control system, and encoders are arranged on the other sides of the output ends of the angle control motor (10), the barrel control motor (24) and the plug control motor (19) and are all electrically connected with the motor control system.
7. The micro-motor control-based coplanar restraint ultrasound guided puncture device according to claim 6, wherein: the fastener I (4) is provided with a control button of the motor control system, and the control button on the fastener I (4) is electrically connected with the motor control system.
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| CN108433791A (en) * | 2018-04-26 | 2018-08-24 | 王燕青 | Adjustable needle angle sting device and its system and control method |
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