Intelligent feedback puncture needle holder

Abstract

The present invention discloses an intelligent feedback puncture needle holder. The intelligent feedback puncture needle holder comprises a mounting frame, a linear sliding module, a deformation forcecollecting device, a puncture force collecting device, a main control circuit board and an optical positioning device; the linear sliding module is vertically arranged in the mounting frame; the deformation force collecting device is fixed on the mounting frame and used for collecting a deformation force of a puncture needle; the puncture force collecting device is arranged on a sliding block ofthe linear sliding module and positioned above the deformation force collecting device, can move up and down along with the sliding block and clamps the puncture needle; the main control circuit boardis arranged on one side of the linear sliding module and used for controlling the sliding block to slide; and the optical positioning device comprises two optical marking frames which are respectively fixed on the mounting frame and the puncture force collecting device. The intelligent feedback puncture needle holder has a needle body stress information collecting function and a puncture needle clamping and propelling function, can be tracked by an optical positioning instrument, and can feed back puncture needle stress information and needle insertion depth information to a control center intime.

Description

technical field [0001] The invention relates to the technical field of medical equipment, in particular to an intelligent feedback puncture needle holder. Background technique [0002] At present, the puncture robot technology is relatively mature, which can greatly simplify the workflow of medical staff. Among them, the use of optical navigation systems to realize information medical technologies such as preoperative image planning of puncture robots, intraoperative real-time navigation, and precise positioning of target areas can effectively improve the success rate of puncture operations, shorten operation time, and reduce the burden on doctors; however, common puncture During the operation, the internal tissues or organs of the human body are constantly wriggling in real time, that is, when the target point is in motion, it is difficult for the puncture robot based on optical guidance to hit the target point by relying on pure optical tracking control; in addition, the p...

AI Technical Summary

Problems solved by technology

Among them, the use of optical navigation systems to realize information medical technologies such as preoperative image planning of puncture robots, intraoperative real-time navigation, and precise positioning of target areas can effectively improve the success rate of puncture operations, shorten operation time, and reduce the burden on doctors; however, common puncture During the operation, the internal tissues or organs of the human body are constantly wriggling in real time, that is, when the target point is in motion, it is difficult for the puncture robot based on optical guidance to hit the target point by relying on pure optical tracking control; in addition, the puncture needle itself is too long. Elastic deformation occurs, and the pure optical tracking system can only judge and adjust the pose of the robot based on the optical markers installed near the end of the robot, but cannot compensate and adjust the robot according to the interaction force between the puncture needle pierced into the human body and the surrounding tissue. Therefore, the puncture trajectory of the puncture needle inside the human body cannot be accurately planned and controlled only based on the optical feedback information; this leads to the puncture trajectory during the puncture process is easily deviated from the planned trajectory, and the puncture needle and the surrounding The tissue interaction force is too large, and the elastic deformation between the puncture needle body piercing the human body and the exposed body is serious, and eventually the human septum or organs are torn by the puncture needle and other serious consequences

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