CN114681069B - Stereotactic transmission system for controlling elongated members - Google Patents
Stereotactic transmission system for controlling elongated members Download PDFInfo
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 97
- 210000000988 bone and bone Anatomy 0.000 claims description 72
- 239000013307 optical fiber Substances 0.000 claims description 35
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- 238000007789 sealing Methods 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 13
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- 238000010168 coupling process Methods 0.000 claims 1
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- 238000009434 installation Methods 0.000 abstract description 10
- 210000003625 skull Anatomy 0.000 abstract description 8
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- 238000000034 method Methods 0.000 description 9
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- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 2
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- 229910052757 nitrogen Inorganic materials 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
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- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
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Abstract
本发明实施例公开一种用于控制细长构件的立体定向传动系统。该系统包括导向装置、传动套管、插件和旋转驱动装置，导向装置与传动套管的远端连接，传动套管的近端与插件的远端连接，使用状态下，细长构件穿过插件、传动套管和导向装置，细长构件的远端可从导向装置的远端伸出，旋转驱动装置驱动细长构件旋转。本发明实施例中，通过旋转驱动装置驱动细长构件旋转实现对细长构件的转动控制，无需在颅骨处额外安装支撑结构即可实现对细长构件进行定向控制，减少患者的痛苦，安装简便。
An embodiment of the present invention discloses a stereotaxic transmission system for controlling an elongated member. The system includes a guide device, a transmission sleeve, a plug-in and a rotary drive device. The guide device is connected to the distal end of the transmission sleeve, and the proximal end of the transmission sleeve is connected to the distal end of the plug-in. When in use, the elongated member passes through the plug-in. , transmission sleeve and guide device, the distal end of the elongated member can extend from the distal end of the guide device, and the rotation driving device drives the elongated member to rotate. In the embodiment of the present invention, the rotation of the slender member is driven by the rotation drive device to realize the rotational control of the slender member. The directional control of the slender member can be achieved without installing an additional support structure at the skull, thereby reducing the pain of the patient and making the installation easy. .
Description
技术领域Technical field
本发明涉及医疗技术领域，具体而言，涉及一种用于控制细长构件的立体定向传动系统。The present invention relates to the field of medical technology, and in particular to a stereotaxic transmission system for controlling elongated members.
背景技术Background technique
目前，微创介入治疗对于多种疾病具有显著的优点和应用前景，在进行微创介入治疗时，需要将细长构件作为介入工具进入人体进行治疗，例如：细长构件可以为光纤、液氮导管或者射频探针。At present, minimally invasive interventional therapy has significant advantages and application prospects for a variety of diseases. When performing minimally invasive interventional therapy, slender components need to be used as interventional tools to enter the human body for treatment. For example, the slender components can be optical fibers, liquid nitrogen Catheter or radiofrequency probe.
为了对细长构件进行定向控制，现有技术中需要在病患处例如颅骨处额外安装支撑结构，以便对细长构件进行定向控制，然而额外的支撑结构增加了植入颅骨的骨钉的数量，增加了患者的痛苦，且安装复杂不便。In order to directionally control the slender member, the prior art requires additional support structures to be installed at the patient site, such as the skull, in order to directionally control the slender member. However, the additional support structure increases the number of bone nails implanted in the skull. , increasing the patient’s pain, and the installation is complicated and inconvenient.
发明内容Contents of the invention
本发明提供了一种用于控制细长构件的立体定向传动系统，以通过旋转驱动装置驱动细长构件旋转，无需在颅骨处额外安装支撑结构即可实现对细长构件进行定向控制，减少患者的痛苦，安装简便。具体的技术方案如下：The present invention provides a stereotactic transmission system for controlling an elongated member to drive the elongated member to rotate through a rotary drive device. It can achieve directional control of the elongated member without installing an additional support structure at the skull and reduce the number of patients. Painless and easy to install. The specific technical solutions are as follows:
第一方面，本发明提供了一种用于控制细长构件的立体定向传动系统，包括：导向装置、传动套管、插件和旋转驱动装置；In a first aspect, the present invention provides a stereotaxic transmission system for controlling an elongated member, including: a guide device, a transmission sleeve, an insert and a rotational drive device;
所述导向装置与所述传动套管的远端连接，所述传动套管的近端与所述插件的远端连接；The guide device is connected to the distal end of the transmission sleeve, and the proximal end of the transmission sleeve is connected to the distal end of the plug-in;
使用状态下，细长构件穿过所述插件、所述传动套管和所述导向装置，所述细长构件的远端可从所述导向装置的远端伸出，所述旋转驱动装置驱动所述细长构件旋转。In the use state, the elongated member passes through the insert, the transmission sleeve and the guide device, the distal end of the elongated member can extend from the distal end of the guide device, and the rotation drive device drives The elongated member rotates.
可选地，上述用于控制细长构件的立体定向传动系统还包括前后平移驱动装置，所述旋转驱动装置滑动连接于所述前后平移驱动装置，所述前后平移驱动装置带动所述旋转驱动装置沿所述细长构件的长度方向移动。Optionally, the above-mentioned stereotaxic transmission system for controlling elongated members also includes a front and rear translation drive device, the rotation drive device is slidingly connected to the front and rear translation drive device, and the front and rear translation drive device drives the rotation drive device. Move along the length of the elongated member.
可选的，所述插件和所述前后平移驱动装置连接。Optionally, the plug-in is connected to the front and rear translation driving device.
可选的，所述导向装置包括空心细长结构引导件和导向装置壳体；Optionally, the guide device includes a hollow elongated structure guide member and a guide device housing;
所述空心细长结构引导件的近端与所述导向装置壳体的远端连接，所述导向装置壳体的近端与所述传动套管的远端连接；The proximal end of the hollow elongated structure guide is connected to the distal end of the guide housing, and the proximal end of the guide housing is connected to the distal end of the transmission sleeve;
所述细长构件穿过所述导向装置壳体和所述空心细长结构引导件，所述细长构件的远端可从所述空心细长结构引导件的远端伸出。The elongate member passes through the guide housing and the hollow elongate structure guide, and a distal end of the elongate member is extendable from a distal end of the hollow elongate structure guide.
可选的，所述导向装置壳体为第一骨钉帽，所述空心细长结构引导件的近端与所述第一骨钉帽的远端螺纹连接，所述第一骨钉帽的近端与所述传动套管的远端连接。Optionally, the guide housing is a first bone nail cap, and the proximal end of the hollow elongated structure guide is threadedly connected to the distal end of the first bone nail cap. The proximal end is connected to the distal end of the transmission sleeve.
可选的，所述导向装置壳体包括第二骨钉帽、导向装置壳体主体和传动套管安装基座；Optionally, the guide housing includes a second bone nail cap, a guide housing body and a transmission sleeve mounting base;
所述空心细长结构引导件的近端与所述第二骨钉帽的远端螺纹连接，所述第二骨钉帽的近端与所述导向装置壳体主体的远端连接，所述传动套管安装基座设置于所述导向装置壳体主体的近端，所述传动套管安装基座与所述传动套管的远端连接；The proximal end of the hollow elongated structure guide is threadedly connected to the distal end of the second bone nail cap, and the proximal end of the second bone nail cap is connected to the distal end of the guide housing body. A transmission sleeve mounting base is provided at the proximal end of the guide housing body, and the transmission sleeve mounting base is connected to the distal end of the transmission sleeve;
所述细长构件穿过所述传动套管安装基座、所述导向装置壳体主体和所述第二骨钉帽。The elongated member passes through the drive sleeve mounting base, the guide housing body, and the second bone nail cap.
可选的，所述导向装置壳体还包括骨钉转接螺栓，所述第二骨钉帽拧紧于所述空心细长结构引导件时，所述骨钉转接螺栓的远端固定于所述第二骨钉帽内，所述骨钉转接螺栓的近端与所述导向装置壳体主体的远端螺纹连接，所述细长构件穿过所述骨钉转接螺栓。Optionally, the guide housing further includes a bone nail adapter bolt. When the second bone nail cap is tightened on the hollow elongated structure guide, the distal end of the bone nail adapter bolt is fixed on the In the second bone nail cap, the proximal end of the bone nail adapter bolt is threadedly connected to the distal end of the guide housing body, and the elongated member passes through the bone nail adapter bolt.
可选的，所述导向装置壳体主体包括导向装置壳体主体固定部和导向装置壳体主体滑动部，所述第二骨钉帽的近端与所述导向装置壳体主体固定部的远端连接，所述导向装置壳体主体固定部的近端与所述导向装置壳体主体滑动部的远端连接，所述传动套管安装基座设置于所述导向装置壳体主体滑动部的近端；Optionally, the guide housing body includes a guide housing body fixing part and a guide housing sliding part, and the proximal end of the second bone nail cap is connected to the distal end of the guide housing body fixing part. end connection, the proximal end of the fixed part of the guide housing body is connected to the distal end of the sliding part of the guide housing body, and the transmission sleeve mounting base is provided on the sliding part of the guide housing body proximal;
所述细长构件穿过所述导向装置壳体主体滑动部和所述导向装置壳体主体固定部。The elongated member passes through the guide housing body sliding part and the guide housing body fixing part.
可选的，所述导向装置壳体主体固定部和/或所述导向装置壳体主体滑动部设置有刻度尺，所述导向装置壳体主体固定部和所述导向装置壳体主体滑动部可相对运动，所述刻度尺显示相对运动的距离。Optionally, the guide housing body fixed part and/or the guide housing body sliding part are provided with a scale, and the guide housing body fixed part and the guide housing sliding part can be Relative movement, the scale shows the distance of relative movement.
可选的，所述导向装置还包括第一角度传感器和第一旋转定位装置；Optionally, the guide device also includes a first angle sensor and a first rotation positioning device;
所述第一角度传感器和所述第一旋转定位装置均安装于所述导向装置壳体内，所述细长构件穿过所述第一旋转定位装置和所述第一角度传感器。The first angle sensor and the first rotation positioning device are both installed in the guide housing, and the elongated member passes through the first rotation positioning device and the first angle sensor.
可选的，所述导向装置还包括冷却套管、冷却循环组件和密封塞；Optionally, the guide device also includes a cooling jacket, a cooling circulation component and a sealing plug;
所述冷却循环组件和所述密封塞沿从远端到近端的方向依次安装于所述导向装置壳体内；The cooling circulation assembly and the sealing plug are sequentially installed in the guide housing in the direction from the distal end to the proximal end;
所述冷却套管依次穿过所述密封塞和所述冷却循环组件，所述细长构件设置于所述冷却套管内部。The cooling jacket passes through the sealing plug and the cooling circulation assembly in sequence, and the elongated member is disposed inside the cooling jacket.
可选的，所述插件包括插件壳体和插件传动套管安装基座；Optionally, the plug-in includes a plug-in housing and a plug-in transmission sleeve mounting base;
所述插件传动套管安装基座设置于所述插件壳体的远端，所述插件传动套管安装基座与所述传动套管的近端连接；The plug-in transmission sleeve mounting base is provided at the distal end of the plug-in housing, and the plug-in transmission sleeve mounting base is connected to the proximal end of the transmission sleeve;
所述细长构件穿过所述插件壳体和所述插件传动套管安装基座。The elongated member passes through the insert housing and the insert drive bushing mounting base.
可选的，所述插件还包括第二角度传感器和第二旋转定位装置；Optionally, the plug-in further includes a second angle sensor and a second rotation positioning device;
所述第二旋转定位装置与所述第二角度传感器均安装于所述插件壳体内，所述细长构件穿过所述第二旋转定位装置和所述第二角度传感器。The second rotation positioning device and the second angle sensor are both installed in the plug-in housing, and the elongated member passes through the second rotation positioning device and the second angle sensor.
可选的，所述插件壳体包括插件上壳体和插件下壳体；Optionally, the plug-in housing includes an upper plug-in housing and a lower plug-in housing;
所述插件下壳体包括相互连接的延伸部和下连接部，所述插件上壳体和所述下连接部相互盖合形成容置腔，所述第二旋转定位装置与所述第二角度传感器安装于所述容置腔内。The plug-in lower housing includes an extension portion and a lower connecting portion that are connected to each other. The plug-in upper housing and the lower connecting portion cover each other to form an accommodation cavity. The second rotation positioning device is aligned with the second angle The sensor is installed in the accommodation cavity.
可选的，所述旋转驱动装置包括第一驱动器；Optionally, the rotation drive device includes a first driver;
所述第一驱动器与所述细长构件连接，所述第一驱动器驱动所述细长构件围绕自身轴线旋转。The first driver is connected to the elongated member, and the first driver drives the elongated member to rotate around its own axis.
可选的，所述旋转驱动装置还包括旋转装置基座；Optionally, the rotary drive device also includes a rotary device base;
所述第一驱动器安装于所述旋转装置基座。The first driver is installed on the rotating device base.
可选的，所述旋转驱动装置还包括细长构件转接器；Optionally, the rotary drive device further includes an elongated member adapter;
使用状态下，所述第一驱动器驱动所述细长构件转接器转动，所述细长构件转接器的远端与所述细长构件连接。In the use state, the first driver drives the elongated member adapter to rotate, and the distal end of the elongated member adapter is connected to the elongated member.
可选的，所述前后平移驱动装置包括前后平移驱动装置基座、至少一个滑轨、丝杠、滑动块和第二驱动器；Optionally, the front and rear translation driving device includes a front and rear translation driving device base, at least one slide rail, screw, sliding block and second driver;
所述至少一个滑轨和所述丝杠平行设置且均穿过所述滑动块，所述至少一个滑轨的两端固定安装于所述前后平移驱动装置基座，所述丝杠转动连接于所述前后平移驱动装置基座，所述第二驱动器驱动所述丝杠旋转，所述第二驱动器安装于所述前后平移驱动装置基座，所述旋转驱动装置安装于所述滑动块。The at least one slide rail and the screw are arranged in parallel and both pass through the sliding block. Both ends of the at least one slide rail are fixedly installed on the base of the front and rear translation drive device. The screw is rotatably connected to The front and rear translation drive device base, the second driver drives the screw to rotate, the second driver is installed on the front and rear translation drive device base, and the rotation drive device is installed on the sliding block.
由上述内容可知，本发明实施例提供的用于控制细长构件的立体定向传动系统，包括导向装置、传动套管、插件和旋转驱动装置，导向装置与传动套管的远端连接，传动套管的近端与插件的远端连接，使用状态下，细长构件穿过插件、传动套管和导向装置，细长构件的远端可从导向装置的远端伸出，旋转驱动装置驱动细长构件旋转。本发明实施例中，通过旋转驱动装置驱动细长构件旋转实现对细长构件的转动控制，无需在颅骨处额外安装支撑结构即可实现对细长构件进行定向控制，减少患者的痛苦，安装简便。当然，实施本发明的任一产品或方法并不一定需要同时达到以上所述的所有优点。It can be seen from the above that the stereotactic transmission system for controlling elongated members provided by the embodiment of the present invention includes a guide device, a transmission sleeve, a plug-in and a rotation drive device. The guide device is connected to the distal end of the transmission sleeve, and the transmission sleeve The proximal end of the tube is connected to the distal end of the plug-in. In the use state, the elongated member passes through the plug-in, the transmission sleeve and the guide device. The distal end of the elongated member can extend from the distal end of the guide device. The rotating drive device drives the elongated member. Long members rotate. In the embodiment of the present invention, the rotation of the slender member is driven by the rotation drive device to realize the rotation control of the slender member. The directional control of the slender member can be realized without installing an additional support structure at the skull, thereby reducing the pain of the patient and making the installation easy. . Of course, implementing any product or method of the present invention does not necessarily require achieving all the above-mentioned advantages simultaneously.
本发明实施例的创新点包括：The innovative points of the embodiments of the present invention include:
1、通过将旋转驱动装置滑动连接于前后平移驱动装置的方式，使得前后平移驱动装置可以带动旋转驱动装置沿细长构件的长度方向移动，从而使得细长构件随着旋转驱动装置的移动而移动，由此通过前后平移驱动装置实现对细长构件沿长度方向移动的控制。1. By sliding the rotational drive device to the front and rear translation drive device, the front and rear translation drive device can drive the rotation drive device to move along the length direction of the elongated member, so that the elongated member moves with the movement of the rotation drive device. , thereby realizing the control of the movement of the elongated member along the length direction through the front and rear translation driving device.
2、通过旋转驱动装置驱动细长构件旋转实现对细长构件的转动控制，无需在颅骨处额外安装支撑结构即可实现对细长构件进行定向控制，减少患者的痛苦，安装简便。2. The rotation of the slender member is driven by the rotary drive device to achieve rotational control of the slender member. The directional control of the slender member can be achieved without installing an additional support structure at the skull, reducing the patient's pain and making installation easy.
3、通过设置第一旋转定位装置和第一角度传感器的方式，可以检测到位于导向装置壳体内的细长构件的旋转角度。3. By arranging the first rotation positioning device and the first angle sensor, the rotation angle of the elongated member located in the guide device housing can be detected.
4、通过在导向装置壳体主体固定部和/或导向装置壳体主体滑动部设置刻度尺的方式，可是显示导向装置壳体主体固定部和导向装置壳体主体滑动部之间的相对运动的距离。4. By setting a scale on the fixed part of the guide housing body and/or the sliding part of the guide housing body, the relative movement between the fixed part of the guide housing body and the sliding part of the guide housing body can be displayed. distance.
5、通过设置第二旋转定位装置与第二角度传感器的方式，可以检测到位于插件壳体内的细长构件的旋转角度，以便控制装置进行后续控制操作使得第一旋转定位装置的旋转角度与第二旋转定位装置的旋转角度相同。5. By arranging the second rotation positioning device and the second angle sensor, the rotation angle of the elongated member located in the plug-in housing can be detected, so that the control device can perform subsequent control operations so that the rotation angle of the first rotation positioning device is consistent with the second angle sensor. The rotation angles of the two rotation positioning devices are the same.
附图说明Description of the drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单介绍。显而易见地，下面描述中的附图仅仅是本发明的一些实施例。对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to describe the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.
图1为本发明实施例提供的用于控制细长构件的立体定向传动系统的结构示意图；Figure 1 is a schematic structural diagram of a stereotaxic transmission system for controlling elongated members provided by an embodiment of the present invention;
图2为本发明实施例提供的导向装置的一种结构示意图；Figure 2 is a schematic structural diagram of a guide device provided by an embodiment of the present invention;
图3为本发明实施例提供的第一旋转定位装置和第一角度传感器的一个角度的爆炸图；Figure 3 is an exploded view from one angle of the first rotation positioning device and the first angle sensor provided by the embodiment of the present invention;
图4为本发明实施例提供的第一旋转定位装置和第一角度传感器的另一个角度的爆炸图；Figure 4 is an exploded view from another angle of the first rotation positioning device and the first angle sensor provided by the embodiment of the present invention;
图5为图2的剖视图；Figure 5 is a cross-sectional view of Figure 2;
图6为插件的一种结构示意图；Figure 6 is a schematic structural diagram of the plug-in;
图7为插件的另一种结构示意图；Figure 7 is another structural diagram of the plug-in;
图8为旋转驱动装置的结构示意图；Figure 8 is a schematic structural diagram of the rotation drive device;
图9为图8的剖视图；Figure 9 is a cross-sectional view of Figure 8;
图10为前后平移驱动装置的结构示意图。Figure 10 is a schematic structural diagram of the front and rear translation driving device.
图1-图10中，1导向装置，11空心细长结构引导件，12第二骨钉帽，13传动套管安装基座，14导向装置壳体主体固定部，15导向装置壳体主体滑动部，16刻度尺，17骨钉转接螺栓，171螺栓凸起，18第一角度传感器，19第一旋转定位装置，2传动套管，21主体，211凸起，22可调动顶压器，23轴承，24第一轴，25第二轴，26第一孔，3插件，31插件壳体，311插件上壳体，312插件下壳体，3121延伸部，3122下连接部，32插件传动套管安装基座，33第二角度传感器，34第二旋转定位装置，4旋转驱动装置，41第一驱动器，42旋转装置基座，43细长构件转接器，44跳线光纤接头，45跳线光纤套管，5前后平移驱动装置，51前后平移驱动装置基座，52滑轨，53丝杠，54滑动块，55第二驱动器，56被动轮，57使动轮，6插件连接件，7细长构件，71细长构件插头，50卡孔，60冷却套管，70冷却循环组件，80密封塞，90冷却循环组件帽。In Figures 1 to 10, 1 guide device, 11 hollow slender structure guide, 12 second bone nail cap, 13 transmission sleeve mounting base, 14 guide device housing body fixed part, 15 guide device housing body sliding Part, 16 scale, 17 bone nail adapter bolt, 171 bolt boss, 18 first angle sensor, 19 first rotation positioning device, 2 transmission sleeve, 21 main body, 211 boss, 22 adjustable pusher, 23 bearings, 24 first shaft, 25 second shaft, 26 first hole, 3 plug-in, 31 plug-in housing, 311 plug-in upper housing, 312 plug-in lower housing, 3121 extension, 3122 lower connection part, 32 plug-in transmission Casing installation base, 33 second angle sensor, 34 second rotation positioning device, 4 rotation drive device, 41 first driver, 42 rotation device base, 43 slender member adapter, 44 jumper fiber optic connector, 45 Jumper optical fiber sleeve, 5 front and rear translation drive device, 51 front and rear translation drive device base, 52 slide rail, 53 screw, 54 sliding block, 55 second driver, 56 driven wheel, 57 driven wheel, 6 plug-in connectors, 7 slender members, 71 slender member plugs, 50 card holes, 60 cooling sleeves, 70 cooling circulation components, 80 sealing plugs, 90 cooling circulation component caps.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整的描述。显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有付出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without exerting creative efforts fall within the scope of protection of the present invention.
需要说明的是，本发明实施例及附图中的术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。例如包含的一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其他步骤或单元。It should be noted that the terms "including" and "having" and any variations thereof in the embodiments of the present invention and the drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes Other steps or units inherent to such processes, methods, products or devices.
本发明实施例公开了一种用于控制细长构件的立体定向传动系统，可以通过旋转驱动装置驱动细长构件旋转，无需在颅骨处额外安装支撑结构即可实现对细长构件进行定向控制，减少患者的痛苦，安装简便。下面对本发明实施例进行详细说明。Embodiments of the present invention disclose a stereotactic transmission system for controlling an elongated member, which can drive the elongated member to rotate through a rotational drive device, and can achieve directional control of the elongated member without installing an additional support structure at the skull. Reduces patient pain and is easy to install. The embodiments of the present invention will be described in detail below.
图1为本发明实施例提供的用于控制细长构件的立体定向传动系统的结构示意图。参见图1，本发明实施例提供的用于控制细长构件的立体定向传动系统，包括：导向装置1、传动套管2、插件3和旋转驱动装置4。Figure 1 is a schematic structural diagram of a stereotaxic transmission system for controlling elongated members provided by an embodiment of the present invention. Referring to Figure 1, the stereotactic transmission system provided by the embodiment of the present invention for controlling elongated members includes: a guide device 1, a transmission sleeve 2, an insert 3 and a rotation drive device 4.
导向装置1与传动套管2的远端连接，传动套管2的近端与插件3的远端连接。The guide device 1 is connected to the distal end of the transmission sleeve 2 , and the proximal end of the transmission sleeve 2 is connected to the distal end of the plug-in 3 .
使用状态下，细长构件穿过插件3、传动套管2和导向装置1，细长构件的远端可从导向装置1的远端伸出，旋转驱动装置4驱动细长构件旋转。In the use state, the elongated member passes through the insert 3, the transmission sleeve 2 and the guide device 1. The distal end of the elongated member can extend from the distal end of the guide device 1, and the rotation drive device 4 drives the elongated member to rotate.
插件3可以固定于任一结构，只要在固定后插件3的近端与旋转驱动装置4的远端相对，让旋转驱动装置4可驱动细长构件旋转，细长构件可以在插件3内沿自身轴向方向移动和绕自身轴线旋转即可。例如，插件3固定于专用支架。The plug-in 3 can be fixed to any structure, as long as the proximal end of the plug-in 3 is opposite to the distal end of the rotary drive device 4 after being fixed, so that the rotary drive device 4 can drive the elongated member to rotate, and the elongated member can move along itself within the plug-in 3 Just move in the axial direction and rotate around its own axis. For example, the plug-in 3 is fixed on a special bracket.
综上可见，本发明实施例提供的用于控制细长构件的立体定向传动系统，包括导向装置1、传动套管2、插件3和旋转驱动装置4，导向装置1与传动套管2的远端连接，传动套管2的近端与插件3的远端连接，使用状态下，细长构件穿过插件3、传动套管2和导向装置1，细长构件的远端可从导向装置1的远端伸出，旋转驱动装置4驱动细长构件旋转。本发明实施例中，通过旋转驱动装置驱动细长构件旋转实现对细长构件的转动控制，无需在颅骨处额外安装支撑结构即可实现对细长构件进行定向控制，减少患者的痛苦，安装简便。In summary, it can be seen that the stereotactic transmission system for controlling elongated members provided by the embodiment of the present invention includes a guide device 1, a transmission sleeve 2, a plug-in 3 and a rotary drive device 4. The distance between the guide device 1 and the transmission sleeve 2 is end connection, the proximal end of the transmission sleeve 2 is connected to the distal end of the plug-in 3. In the use state, the elongated member passes through the plug-in 3, the transmission sleeve 2 and the guide device 1, and the distal end of the elongated member can pass through the guide device 1 The distal end extends, and the rotation drive device 4 drives the elongated member to rotate. In the embodiment of the present invention, the rotation of the slender member is driven by the rotation drive device to realize the rotation control of the slender member. The directional control of the slender member can be realized without installing an additional support structure at the skull, thereby reducing the pain of the patient and making the installation easy. .
继续参见图1，本发明实施例提供的用于控制细长构件的立体定向传动系统还可以包括前后平移驱动装置5，旋转驱动装置4滑动连接于前后平移驱动装置5，旋转驱动装置4滑动连接于前后平移驱动装置5的方式有多种，本发明实施例对此并不做任何限定。由于旋转驱动装置4滑动连接于前后平移驱动装置5，因此，前后平移驱动装置5可以带动旋转驱动装置4沿细长构件的长度方向移动，从而使得细长构件随着旋转驱动装置4的移动而移动。Continuing to refer to FIG. 1 , the stereotactic transmission system for controlling elongated members provided by the embodiment of the present invention may also include a front and rear translation drive device 5 . The rotation drive device 4 is slidingly connected to the front and rear translation drive device 5 . The rotation drive device 4 is slidingly connected to the front and rear translation drive device 5 . There are many ways to translate the driving device 5 forward and backward, and the embodiment of the present invention does not limit this in any way. Since the rotation drive device 4 is slidingly connected to the front and rear translation drive device 5 , the front and rear translation drive device 5 can drive the rotation drive device 4 to move along the length direction of the elongated member, so that the elongated member moves along with the movement of the rotation drive device 4 move.
插件3还可以固定于前后平移驱动装置5，插件3和前后平移驱动装置5固定连接的方式有多种，示例性的，继续参见图1，本发明实施例提供的用于控制细长构件的立体定向传动系统还可以包括插件连接件6，插件连接件6的一端与前后平移驱动装置5固定连接，另一端与插件3固定连接，由此，插件3通过插件连接件6实现与前后平移驱动装置5固定连接。The plug-in 3 can also be fixed to the front and rear translation driving device 5. The plug-in 3 and the front and rear translation driving device 5 can be fixedly connected in a variety of ways. For example, continue to refer to FIG. 1 for controlling the elongated member provided by the embodiment of the present invention. The stereotaxic transmission system may also include a plug-in connector 6. One end of the plug-in connector 6 is fixedly connected to the front and rear translation drive device 5, and the other end is fixedly connected to the plug-in 3. Thus, the plug-in 3 realizes the front-to-back translation drive through the plug-in connector 6. Device 5 is fixedly connected.
由此，通过将旋转驱动装置4滑动连接于前后平移驱动装置5的方式，使得前后平移驱动装置5可以带动旋转驱动装置4沿细长构件的长度方向移动，从而使得细长构件随着旋转驱动装置4的移动而移动，由此通过前后平移驱动装置实现对细长构件沿长度方向移动的控制。Therefore, by slidingly connecting the rotary driving device 4 to the front and rear translation driving device 5, the front and rear translation driving device 5 can drive the rotation driving device 4 to move along the length direction of the elongated member, so that the elongated member is driven with rotation. The movement of the device 4 results in movement of the elongated member in the length direction, whereby the movement of the elongated member in the length direction is controlled by the front and rear translational drive device.
下面对用于控制细长构件的立体定向传动系统的各个部件进行详细介绍：The various components of the stereotaxic transmission system used to control elongated members are described in detail below:
图2为本发明实施例提供的导向装置1的一种结构示意图，参见图2，导向装置1包括空心细长结构引导件11和导向装置壳体，空心细长结构引导件11的近端与导向装置壳体的远端连接，导向装置壳体的近端与传动套管2的远端连接。Figure 2 is a structural schematic diagram of the guide device 1 provided by the embodiment of the present invention. Referring to Figure 2, the guide device 1 includes a hollow elongated structure guide 11 and a guide housing. The proximal end of the hollow elongated structure guide 11 is connected to The distal end of the guide housing is connected, and the proximal end of the guide housing is connected to the distal end of the transmission sleeve 2 .
细长构件穿过导向装置壳体和空心细长结构引导件11，细长构件的远端可从空心细长结构引导件11的远端伸出。The elongate member passes through the guide housing and the hollow elongate structure guide 11 and the distal end of the elongate member may extend from the distal end of the hollow elongate structure guide 11 .
其中，空心细长结构引导件11为空心的并可对细长构件起导引作用，示例性的，空心细长结构引导件11可以为空心骨钉。The hollow elongated structural guide 11 is hollow and can guide elongated members. For example, the hollow elongated structural guide 11 can be a hollow bone nail.
导向装置壳体的结构有多种，包括但不限于以下几种：There are many structures of the guide housing, including but not limited to the following:
第一种：The first:
导向装置壳体为第一骨钉帽，空心细长结构引导件11的近端与第一骨钉帽的远端螺纹连接，第一骨钉帽的近端与传动套管2的远端连接。The guide housing is a first bone nail cap. The proximal end of the hollow elongated structure guide 11 is threadedly connected to the distal end of the first bone nail cap. The proximal end of the first bone nail cap is connected to the distal end of the transmission sleeve 2 .
在导向装置壳体为第一骨钉帽的情况下，导向装置1还可以包括第一角度传感器和第一旋转定位装置，第一角度传感器和第一旋转定位装置均安装于导向装置壳体也就是第一骨钉帽内，细长构件穿过第一旋转定位装置和第一角度传感器。In the case where the guide device housing is a first bone nail cap, the guide device 1 may also include a first angle sensor and a first rotation positioning device. The first angle sensor and the first rotation positioning device are both installed on the guide device housing. That is, in the first bone nail cap, the elongated member passes through the first rotation positioning device and the first angle sensor.
具体的，第一角度传感器与第一旋转定位装置可拆卸连接，细长构件穿过第一旋转定位装置和第一角度传感器并可沿轴向方向移动以及绕自身轴线旋转。使用状态下，第一旋转定位装置按照预设压力夹持细长构件，允许细长构件沿自身长度方向移动，同时使得细长构件带动第一旋转定位装置旋转，第一角度传感器检测第一旋转定位装置的旋转角度，由于细长构件带动第一旋转定位装置旋转，因此，第一角度传感器检测到的第一旋转定位装置的旋转角度也就是细长构件的旋转角度，第一角度传感器发送检测到的旋转角度至控制装置。Specifically, the first angle sensor is detachably connected to the first rotation positioning device, and the elongated member passes through the first rotation positioning device and the first angle sensor and can move in the axial direction and rotate around its own axis. In the use state, the first rotary positioning device clamps the elongated member according to the preset pressure, allowing the elongated member to move along its length direction, and at the same time, the elongated member drives the first rotary positioning device to rotate, and the first angle sensor detects the first rotation The rotation angle of the positioning device. Since the elongated member drives the first rotation positioning device to rotate, the rotation angle of the first rotation positioning device detected by the first angle sensor is also the rotation angle of the elongated member. The first angle sensor sends the detection to the angle of rotation to the control device.
由此，通过设置第一旋转定位装置和第一角度传感器的方式，可以检测到位于导向装置壳体内的细长构件的旋转角度。Therefore, by arranging the first rotation positioning device and the first angle sensor, the rotation angle of the elongated member located in the guide housing can be detected.
下面对第一旋转定位装置的结构进行介绍：The structure of the first rotation positioning device is introduced below:
图3为本发明实施例提供的第一旋转定位装置和第一角度传感器的一个角度的爆炸图，图4为本发明实施例提供的第一旋转定位装置和第一角度传感器的另一个角度的爆炸图。参见图3-图4，第一旋转定位装置可以包括主体21、至少一个可调动顶压器22、两个轴承23、第一轴24和第二轴25。Figure 3 is an exploded view of the first rotation positioning device and the first angle sensor provided by the embodiment of the present invention from one angle. Figure 4 is an exploded view of the first rotation positioning device and the first angle sensor provided by the embodiment of the present invention from another angle. Exploded view. Referring to FIGS. 3 and 4 , the first rotation positioning device may include a main body 21 , at least one adjustable pusher 22 , two bearings 23 , a first shaft 24 and a second shaft 25 .
主体21的侧面设置有两个孔，主体21的一端设置有凹槽，凹槽分别将两个孔分为两部分，凹槽的槽底设置有通孔，主体21的一个端面设置有与可调动顶压器22适配的第一孔26，两个孔中靠近第一孔26的一者与第一孔26连通，两个轴承23设置于凹槽内，第一轴24穿过两个轴承23中的一个轴承23设置于两个孔中的一个孔内，第二轴25穿过两个轴承23中的另一个轴承23设置于两个孔中的另一个孔内，可调动顶压器22设置于第一孔26内，细长构件7设置于两个轴承23之间并穿过槽底的通孔。Two holes are provided on the side of the main body 21, and a groove is provided on one end of the main body 21. The grooves divide the two holes into two parts, and a through hole is provided at the bottom of the groove. One end surface of the main body 21 is provided with a removable The first hole 26 of the ejector 22 is adjusted, and one of the two holes close to the first hole 26 is connected with the first hole 26. The two bearings 23 are arranged in the groove, and the first shaft 24 passes through the two holes. One of the bearings 23 is disposed in one of the two holes. The second shaft 25 passes through the other of the two bearings 23 and is disposed in the other of the two holes. The top pressure can be adjusted. The device 22 is arranged in the first hole 26, and the elongated member 7 is arranged between the two bearings 23 and passes through the through hole at the bottom of the groove.
示例性的，两个孔的中心线相互平行。For example, the center lines of the two holes are parallel to each other.
在使用状态下，拧紧可调动顶压器22，两个轴承23夹持细长构件7，两个轴承23与细长构件7之间的压力到达预定值，也就是说，可以通过拧紧可调动顶压器22来调节两个孔中与第一孔26连通的孔内的轴的位置，使得与第一孔26连通的孔内的轴带动其所穿过的轴承23向细长构件7施加压力，同时，两个孔中未与第一孔26连通的孔内的轴也通过其所穿过的轴承23向细长构件7施加压力，由此，通过拧紧可调动顶压器22的方式，将两个轴承23与细长构件7之间的压力调节到预定值。In the use state, the adjustable pusher 22 is tightened, the two bearings 23 clamp the elongated member 7, and the pressure between the two bearings 23 and the elongated member 7 reaches a predetermined value, that is, the adjustable pusher 22 can be tightened. The pusher 22 is used to adjust the position of the shaft in the hole connected to the first hole 26 among the two holes, so that the shaft in the hole connected to the first hole 26 drives the bearing 23 it passes through to exert pressure on the elongated member 7 At the same time, the shaft in the hole in the two holes that is not connected to the first hole 26 also exerts pressure on the elongated member 7 through the bearing 23 it passes through, whereby the pusher 22 can be adjusted by tightening , the pressure between the two bearings 23 and the elongated member 7 is adjusted to a predetermined value.
为了可以通过拧紧可调动顶压器22来调节两个孔中与第一孔26连通的孔内的轴的位置，需要设置两个孔中与第一孔26连通的孔的大小大于设置于自身的轴的大小。In order to adjust the position of the shaft in the hole of the two holes that is connected to the first hole 26 by tightening the adjustable pusher 22, it is necessary to set the size of the hole that is connected to the first hole 26 of the two holes to be larger than that of the hole itself. The size of the axis.
两个孔中未与第一孔26连通的孔内的轴可以固定设置于该孔内，本发明实施例对此并不做任何限定，只要该孔内的轴可以通过其所穿过的轴承23向细长构件7施加压力即可。The shaft in the hole that is not connected to the first hole 26 among the two holes can be fixedly disposed in the hole. The embodiment of the present invention does not impose any limitation on this, as long as the shaft in the hole can pass through the bearing it passes through. 23 Just apply pressure to the elongated member 7.
并且本发明实施例中对轴承23的类型也不做任何限定，示例性的，轴承23可以为衬套。In addition, the type of the bearing 23 is not limited in this embodiment of the present invention. For example, the bearing 23 may be a bushing.
示例性的，可调动顶压器22的数量可以为2个，第一孔26的数量可以为2个。两个第一孔26可以分设于凹槽的两侧。For example, the number of adjustable pushers 22 may be two, and the number of first holes 26 may be two. The two first holes 26 may be provided on both sides of the groove.
继续参见图3-图4，在旋转定位装置2包括主体21、至少一个可调动顶压器22、两个轴承23、第一轴24和第二轴25的情况下，主体21的另一端设置有凸起211，凸起211设置有通孔，凸起211的通孔与槽底的通孔连通，细长构件7穿过凸起211的通孔，第一角度传感器设置有卡孔50，凸起211与卡孔50卡接。Continuing to refer to Figures 3-4, in the case where the rotation positioning device 2 includes a main body 21, at least one adjustable pusher 22, two bearings 23, a first shaft 24 and a second shaft 25, the other end of the main body 21 is provided There is a protrusion 211. The protrusion 211 is provided with a through hole. The through hole of the protrusion 211 is connected with the through hole at the bottom of the groove. The elongated member 7 passes through the through hole of the protrusion 211. The first angle sensor is provided with a card hole 50. The protrusion 211 is engaged with the clamping hole 50 .
第一角度传感器与第一旋转定位装置可拆卸连接的方式可以为在主体21的另一端设置凸起211，在第一角度传感器设置卡孔50，凸起211与卡孔50卡接就将第一角度传感器与第一旋转定位装置连接在一起。The first angle sensor and the first rotation positioning device can be detachably connected by providing a protrusion 211 at the other end of the main body 21 and a clamping hole 50 on the first angle sensor. The protrusion 211 is engaged with the clamping hole 50 to lock the second angle sensor. An angle sensor is connected with the first rotation positioning device.
在一种实现方式中，凸起211的左右两侧为弧形，第一角度传感器的卡孔50为马蹄形，凸起211与马蹄形的卡孔50卡接，当然，本发明实施例中并不限定凸起211与卡孔50的具体形状，只要两者可实现卡接即可。In one implementation, the left and right sides of the protrusion 211 are arc-shaped, the clamping hole 50 of the first angle sensor is horseshoe-shaped, and the protrusion 211 is engaged with the horseshoe-shaped clamping hole 50. Of course, this is not the case in the embodiment of the present invention. The specific shapes of the protrusion 211 and the clamping hole 50 are limited as long as they can be clamped together.
由此，通过在主体21的另一端设置凸起211，在第一角度传感器设置卡孔50的方式，实现第一角度传感器与第一旋转定位装置之间的可拆卸连接。Therefore, by providing the protrusion 211 on the other end of the main body 21 and the clamping hole 50 on the first angle sensor, the detachable connection between the first angle sensor and the first rotation positioning device is achieved.
第二种：The second type:
继续参见图2，导向装置壳体可以包括第二骨钉帽12、导向装置壳体主体和传动套管安装基座13。Continuing to refer to FIG. 2 , the guide housing may include a second bone nail cap 12 , a guide housing body, and a transmission sleeve mounting base 13 .
空心细长结构引导件11的近端与第二骨钉帽12的远端螺纹连接，第二骨钉帽12的近端与导向装置壳体主体的远端连接，传动套管安装基座13设置于导向装置壳体主体的近端，传动套管安装基座13与传动套管2的远端连接，细长构件7穿过传动套管安装基座13、导向装置壳体主体和第二骨钉帽12。The proximal end of the hollow elongated structure guide 11 is threadedly connected to the distal end of the second bone nail cap 12, the proximal end of the second bone nail cap 12 is connected to the distal end of the guide housing body, and the transmission sleeve mounting base 13 It is arranged at the proximal end of the guide housing body, the transmission sleeve mounting base 13 is connected to the distal end of the transmission sleeve 2, and the elongated member 7 passes through the transmission sleeve mounting base 13, the guide housing body and the second Bone nail cap 12.
在使用时，先将第二骨钉帽12的近端与导向装置壳体主体的远端连接，传动套管安装基座13设置于导向装置壳体主体的近端，传动套管安装基座13与传动套管2的远端连接，然后再将第二骨钉帽12的远端与空心细长结构引导件11的近端螺纹连接。During use, the proximal end of the second bone nail cap 12 is first connected to the distal end of the guide housing body, and the transmission sleeve installation base 13 is provided on the proximal end of the guide housing body. The transmission sleeve installation base 13 is connected to the distal end of the transmission sleeve 2, and then the distal end of the second bone nail cap 12 is threadedly connected to the proximal end of the hollow elongated structure guide 11.
其中，导向装置壳体主体和传动套管安装基座13可以为一体结构也可以为非一体结构，本发明实施例对此并不做任何限定。Among them, the guide housing body and the transmission sleeve mounting base 13 may be an integrated structure or a non-integrated structure, and the embodiment of the present invention does not impose any limitation on this.
当导向装置壳体主体为非一体结构时，示例性的，图5为图2的剖视图，参见图2和图5，导向装置壳体主体可以包括导向装置壳体主体固定部14和导向装置壳体主体滑动部15，第二骨钉帽12的近端与导向装置壳体主体固定部14的远端连接，导向装置壳体主体固定部14的近端与导向装置壳体主体滑动部15的远端连接，传动套管安装基座13设置于导向装置壳体主体滑动部15的近端，细长构件7穿过导向装置壳体主体滑动部15和导向装置壳体主体固定部14。When the guide housing body is a non-integrated structure, for example, FIG. 5 is a cross-sectional view of FIG. 2. Referring to FIGS. 2 and 5, the guide housing body may include a guide housing body fixing part 14 and a guide shell. The body body sliding part 15, the proximal end of the second bone nail cap 12 is connected to the distal end of the guide shell body fixing part 14, the proximal end of the guide shell body fixing part 14 is connected to the guide shell body sliding part 15 Distally connected, the transmission sleeve mounting base 13 is provided at the proximal end of the guide housing body sliding portion 15 , and the elongated member 7 passes through the guide housing body sliding portion 15 and the guide housing body fixing portion 14 .
继续参见图5，导向装置壳体主体固定部14和/或导向装置壳体主体滑动部15设置有刻度尺16，导向装置壳体主体固定部14和导向装置壳体主体滑动部15可相对运动，刻度尺16显示相对运动的距离，也就是说，在使用时，可拉动导向装置壳体主体滑动部15使其远离导向装置壳体主体固定部14，每拉出一段距离，就可以从刻度尺16中读出拉出距离，在图5中是导向装置壳体主体滑动部15设置有刻度尺16。Continuing to refer to FIG. 5 , the guide housing body fixed part 14 and/or the guide housing body sliding part 15 are provided with a scale 16 , and the guide housing body fixed part 14 and the guide housing sliding part 15 can move relative to each other. , the scale 16 shows the relative movement distance, that is to say, when in use, the sliding part 15 of the guide housing body can be pulled away from the fixing part 14 of the guide housing body. The pull-out distance is read from the scale 16. In Figure 5, the sliding part 15 of the guide housing body is provided with a scale 16.
由此，通过在导向装置壳体主体固定部14和/或导向装置壳体主体滑动部15设置刻度尺16的方式，可是显示导向装置壳体主体固定部14和导向装置壳体主体滑动部15之间的相对运动的距离。Therefore, by providing the scale 16 on the guide housing body fixing part 14 and/or the guide housing body sliding part 15, it is possible to display the guide housing body fixing part 14 and the guide housing sliding part 15 relative motion distance between them.
继续参见图5，在导向装置壳体包括第二骨钉帽12、导向装置壳体主体和传动套管安装基座13的基础上，导向装置壳体还包括骨钉转接螺栓17，第二骨钉帽12拧紧于空心细长结构引导件11时，骨钉转接螺栓17的远端固定于第二骨钉帽12内，骨钉转接螺栓17的近端与导向装置壳体主体的远端螺纹连接，细长构件7穿过骨钉转接螺栓17。Continuing to refer to Figure 5, on the basis that the guide housing includes a second bone nail cap 12, a guide housing body and a transmission sleeve mounting base 13, the guide housing also includes a bone nail adapter bolt 17. When the bone nail cap 12 is tightened on the hollow elongated structure guide 11, the distal end of the bone nail adapter bolt 17 is fixed in the second bone nail cap 12, and the proximal end of the bone nail adapter bolt 17 is connected to the main body of the guide device housing. The distal end is threaded, and the elongated member 7 passes through the bone nail adapter bolt 17.
具体的，骨钉转接螺栓17设置有螺栓凸起171，螺栓凸起171的大小大于第二骨钉帽12近端的开口大小，当第二骨钉帽12拧紧于空心细长结构引导件11时，第二骨钉帽12近端的开口卡住螺栓凸起171，使得骨钉转接螺栓17的远端固定于第二骨钉帽12内。Specifically, the bone nail adapter bolt 17 is provided with a bolt protrusion 171. The size of the bolt protrusion 171 is larger than the opening size of the proximal end of the second bone nail cap 12. When the second bone nail cap 12 is tightened to the hollow elongated structure guide, At 11 o'clock, the opening at the proximal end of the second bone nail cap 12 blocks the bolt protrusion 171 , so that the distal end of the bone nail adapter bolt 17 is fixed in the second bone nail cap 12 .
在使用时，先将骨钉转接螺栓17插入第二骨钉帽12内，然后将骨钉转接螺栓17的近端与导向装置壳体主体的远端螺纹连接，最后将第二骨钉帽12拧紧于空心细长结构引导件11，使得第二骨钉帽12近端的开口和空心细长结构引导件11卡住螺栓凸起171。When in use, first insert the bone nail adapter bolt 17 into the second bone nail cap 12, then thread the proximal end of the bone nail adapter bolt 17 with the distal end of the guide housing body, and finally insert the second bone nail The cap 12 is tightened to the hollow elongated structural guide 11 so that the proximal opening of the second bone nail cap 12 and the hollow elongated structural guide 11 catch the bolt protrusion 171 .
继续参见图2，在导向装置壳体为上述第二种结构时，导向装置1还可以包括第一角度传感器18和第一旋转定位装置19，第一角度传感器18和第一旋转定位装置19均安装于导向装置壳体内，细长构件7穿过第一旋转定位装置19和第一角度传感器18。第一旋转定位装置19和第一角度传感器18的具体结构以及连接方式参见导向装置壳体为上述第一种结构时的相应描述，在此不再赘述。Continuing to refer to Figure 2, when the guide housing has the second structure described above, the guide 1 can also include a first angle sensor 18 and a first rotation positioning device 19. The first angle sensor 18 and the first rotation positioning device 19 both Mounted within the guide housing, the elongated member 7 passes through the first rotational positioning device 19 and the first angle sensor 18 . For the specific structure and connection method of the first rotation positioning device 19 and the first angle sensor 18, please refer to the corresponding description when the guide device housing is the above-mentioned first structure, and will not be described again here.
由于在使用中，某些类型的细长构件需要冷却密封，例如细长构件为光纤时需要冷却密封，因此，继续参见图5，导向装置1还可以包括冷却套管60、冷却循环组件70和密封塞80，冷却循环组件70和密封塞80沿从远端到近端的方向依次安装于导向装置壳体内，冷却套管60依次穿过密封塞80和冷却循环组件70，细长构件7设置于冷却套管60内部。Since some types of elongated members require cooling sealing during use, for example, when the elongated member is an optical fiber, cooling sealing is required. Therefore, continuing to refer to FIG. 5 , the guide device 1 may also include a cooling sleeve 60 , a cooling circulation assembly 70 and The sealing plug 80, the cooling circulation assembly 70 and the sealing plug 80 are installed in the guide housing in the direction from the distal end to the proximal end. The cooling sleeve 60 passes through the sealing plug 80 and the cooling circulation assembly 70 in sequence. The elongated member 7 is provided inside the cooling jacket 60.
密封的方式有多种，在一种实现方式中，导向装置1还可以包括冷却循环组件帽90，冷却循环组件帽90设置于密封塞80的近端并安装于导向装置壳体内，冷却套管60穿过冷却循环组件帽90。There are many ways of sealing. In one implementation, the guide device 1 can also include a cooling cycle assembly cap 90. The cooling cycle assembly cap 90 is disposed at the proximal end of the sealing plug 80 and installed in the guide device housing. The cooling sleeve 60 through the cooling cycle assembly cap 90.
由此，通过设置冷却套管60、冷却循环组件70和密封塞80的方式，实现对细长构件的冷却密封。Thus, by arranging the cooling jacket 60 , the cooling circulation assembly 70 and the sealing plug 80 , cooling and sealing of the elongated member is achieved.
冷却循环组件70卡在导向装置壳体主体滑动部15中，通过导向装置壳体主体滑动部15相对于导向装置壳体主体固定部14即可带动冷却套管60进行固定距离的纵向运动。The cooling circulation assembly 70 is stuck in the sliding part 15 of the guide housing body, and the cooling jacket 60 can be driven to perform a fixed distance of longitudinal movement by the sliding part 15 of the guide housing body relative to the fixing part 14 of the guide housing body.
下面对插件3的结构进行介绍：The structure of plug-in 3 is introduced below:
图6为插件3的一种结构示意图，参见图6，插件3可以包括插件壳体31和插件传动套管安装基座32。插件传动套管安装基座32设置于插件壳体31的远端，插件传动套管安装基座32与传动套管2的近端连接，细长构件7穿过插件壳体31和插件传动套管安装基座32，细长构件7设置有细长构件插头71，细长构件插头71可从插件壳体31的近端伸出。在一种实现方式中，插件壳体31和插件传动套管安装基座32可以为整体结构。FIG. 6 is a schematic structural diagram of the plug-in 3. Referring to FIG. 6, the plug-in 3 may include a plug-in housing 31 and a plug-in transmission sleeve mounting base 32. The plug-in transmission sleeve installation base 32 is provided at the distal end of the plug-in housing 31. The plug-in transmission sleeve installation base 32 is connected to the proximal end of the transmission sleeve 2. The elongated member 7 passes through the plug-in housing 31 and the plug-in transmission sleeve. The tube mounting base 32 and the elongate member 7 are provided with an elongate member plug 71 extendable from the proximal end of the insert housing 31 . In one implementation, the plug-in housing 31 and the plug-in transmission sleeve mounting base 32 may be an integral structure.
图7为插件3的另一种结构示意图，参见图7，由于在导向装置1包括密封塞80的情况下，密封塞80与细长构件7之间的摩擦力以及细长构件7在纵向的应力累积，使第一角度传感器处的细长构件7的旋转角度达到预设要求后旋转角度不稳定，因此，在导向装置1还包括冷却套管60、冷却循环组件70和密封塞80的情况下，插件3还可以包括第二角度传感器33和第二旋转定位装置34，第二旋转定位装置34与第二角度传感器33均安装于插件壳体31内，细长构件7穿过第二旋转定位装置34和第二角度传感器33。第二旋转定位装置34与第二角度传感器33的具体结构以及连接方式均与第一旋转定位装置和第一角度传感器的具体结构以及连接方式相同，区别仅为方向不同：第一角度传感器位于远端，第一旋转定位装置位于近端；第二角度传感器33位于近端，第二旋转定位装置34位于远端，具体可以参见导向装置壳体为上述第一种结构时的相应描述，在此不再赘述。Figure 7 is another structural schematic diagram of the insert 3. Referring to Figure 7, due to the friction between the sealing plug 80 and the elongated member 7 when the guide device 1 includes the sealing plug 80, and the longitudinal direction of the elongated member 7, The accumulation of stress makes the rotation angle of the elongated member 7 at the first angle sensor unstable after it reaches the preset requirement. Therefore, when the guide device 1 also includes a cooling sleeve 60 , a cooling circulation assembly 70 and a sealing plug 80 Next, the plug-in 3 may also include a second angle sensor 33 and a second rotation positioning device 34. The second rotation positioning device 34 and the second angle sensor 33 are both installed in the plug-in housing 31, and the elongated member 7 passes through the second rotation positioning device 34. Positioning device 34 and second angle sensor 33. The specific structure and connection method of the second rotation positioning device 34 and the second angle sensor 33 are the same as those of the first rotation positioning device and the first angle sensor. The only difference is the direction: the first angle sensor is located far away. end, the first rotation positioning device is located at the proximal end; the second angle sensor 33 is located at the proximal end, and the second rotation positioning device 34 is located at the distal end. For details, please refer to the corresponding description when the guide device housing is the above-mentioned first structure. Here No longer.
第二角度传感器33检测第二旋转定位装置34的旋转角度并发送至控制装置，控制装置在接收到第二旋转定位装置34的旋转角度后，再进行后续控制操作使得第一旋转定位装置的旋转角度与第二旋转定位装置34的旋转角度相同。The second angle sensor 33 detects the rotation angle of the second rotation positioning device 34 and sends it to the control device. After receiving the rotation angle of the second rotation positioning device 34, the control device performs subsequent control operations to cause the rotation of the first rotation positioning device. The angle is the same as the rotation angle of the second rotation positioning device 34 .
由此，通过设置第二旋转定位装置34与第二角度传感器33的方式，可以检测到位于插件壳体13内的细长构件的旋转角度，以便控制装置进行后续控制操作使得细长构件7在第一角度传感器处的旋转角度与第二角度传感器33处的旋转角度相同。Therefore, by arranging the second rotation positioning device 34 and the second angle sensor 33, the rotation angle of the elongated member located in the plug-in housing 13 can be detected, so that the control device can perform subsequent control operations so that the elongated member 7 is in The rotation angle at the first angle sensor is the same as the rotation angle at the second angle sensor 33 .
插件壳体31的机构有多种，本发明实施例对此并不做任何限定，示例性的，继续参见图7，插件壳体31可以包括插件上壳体311和插件下壳体312，插件下壳体312包括相互连接的延伸部3121和下连接部3122，插件上壳体311和下连接部3122相互盖合形成容置腔，第二旋转定位装置34与第二角度传感器33安装于容置腔内。There are many mechanisms of the plug-in housing 31, which are not limited in the embodiment of the present invention. For example, referring to FIG. 7, the plug-in housing 31 may include an upper plug-in housing 311 and a lower plug-in housing 312. The lower housing 312 includes an extension portion 3121 and a lower connecting portion 3122 that are connected to each other. The upper housing 311 and the lower connecting portion 3122 of the plug-in cover each other to form a receiving cavity. The second rotation positioning device 34 and the second angle sensor 33 are installed in the cavity. Place inside the cavity.
下面对旋转驱动装置4进行介绍：The following is an introduction to the rotary drive device 4:
图8为旋转驱动装置4的结构示意图，参见图8，旋转驱动装置4包括第一驱动器41，第一驱动器41与细长构件7连接，第一驱动器41驱动细长构件7围绕自身轴线旋转。Figure 8 is a schematic structural diagram of the rotary drive device 4. Referring to Figure 8, the rotary drive device 4 includes a first driver 41. The first driver 41 is connected to the elongated member 7. The first driver 41 drives the elongated member 7 to rotate around its own axis.
第一驱动器41的结构形式有多种，包括但不限于电机、液压形式和气动形式，本发明实施例对此并不做任何限定。The first driver 41 can have various structural forms, including but not limited to motor, hydraulic and pneumatic forms, which are not limited in this embodiment of the present invention.
第一驱动器41与细长构件7连接的方式有多种，示例性的，旋转驱动装置4还可以包括第一传动机构，第一驱动器41与第一传动机构连接，第一传动机构与细长构件7连接，使得第一驱动器41通过第一传动机构连接带动细长构件7围绕自身轴线旋转。There are many ways to connect the first driver 41 to the elongated member 7. For example, the rotation drive device 4 may also include a first transmission mechanism. The first driver 41 is connected to the first transmission mechanism. The first transmission mechanism is connected to the elongated member 7. The member 7 is connected such that the first driver 41 is connected through the first transmission mechanism to drive the elongated member 7 to rotate around its own axis.
第一传动机构的结构形式有多种，包括但不限于齿轮形式和皮带形式。The first transmission mechanism has various structural forms, including but not limited to gear form and belt form.
由此，通过第一驱动器41实现驱动细长构件7围绕自身轴线旋转。Thus, the elongated member 7 is driven to rotate about its own axis by the first driver 41 .
继续参见图8，旋转驱动装置4还可以包括旋转装置基座42，第一驱动器41安装于旋转装置基座42。Continuing to refer to FIG. 8 , the rotation driving device 4 may further include a rotation device base 42 on which the first driver 41 is installed.
由于在使用中，某些类型的细长构件需要转接器才可以使用，例如细长构件7为光纤时，图9为图8的剖视图，参见图9，旋转驱动装置4还可以包括细长构件转接器43，使用状态下，第一驱动器41驱动细长构件转接器43转动，细长构件转接器43的远端与细长构件7连接。Because in use, some types of elongated components require adapters before they can be used. For example, when the elongated member 7 is an optical fiber, Figure 9 is a cross-sectional view of Figure 8. Referring to Figure 9, the rotation drive device 4 can also include an elongated component. When the member adapter 43 is in use, the first driver 41 drives the elongated member adapter 43 to rotate, and the distal end of the elongated member adapter 43 is connected to the elongated member 7 .
由于细长构件转接器43的远端与细长构件7连接，因此，当第一驱动器41驱动细长构件转接器43转动时，细长构件转接器43带动细长构件7随之转动。Since the distal end of the elongated member adapter 43 is connected to the elongated member 7, when the first driver 41 drives the elongated member adapter 43 to rotate, the elongated member adapter 43 drives the elongated member 7 to follow. Turn.
继续参见图9，当细长构件7为光纤时，上述与细长构件转接器43的远端连接的为消融光纤，还包括传输光纤，传输光纤的远端与跳线光纤接头44的近端连接，传输光纤的近端与激光发生器连接。使用时，跳线光纤接头44的远端与细长构件转接器43的连接，跳线光纤接头44通过跳线光纤套管45与旋转装置基座42固定连接，然后将跳线光纤接头44的远端与细长构件转接器43的远端解开连接，细长构件转接器43再与消融光纤连接，此时，当第一驱动器41驱动细长构件转接器43转动时，细长构件转接器43可以带动与其连接的消融光纤随之转动，通过消融光纤可以执行消融治疗。Continuing to refer to Figure 9, when the elongated member 7 is an optical fiber, the ablation optical fiber is connected to the distal end of the elongated member adapter 43, and also includes a transmission optical fiber. The distal end of the transmission optical fiber is connected to the proximal end of the jumper optical fiber connector 44. The near end of the transmission fiber is connected to the laser generator. When in use, the far end of the jumper fiber optic connector 44 is connected to the elongated member adapter 43, and the jumper fiber optic connector 44 is fixedly connected to the rotating device base 42 through the jumper fiber optic sleeve 45, and then the jumper fiber optic connector 44 is The distal end is unconnected with the distal end of the elongated member adapter 43, and the elongated member adapter 43 is then connected to the ablation optical fiber. At this time, when the first driver 41 drives the elongated member adapter 43 to rotate, The elongated member adapter 43 can drive the ablation optical fiber connected thereto to rotate accordingly, and ablation treatment can be performed through the ablation optical fiber.
下面对前后平移驱动装置5进行介绍：The front and rear translation drive device 5 is introduced below:
图10为前后平移驱动装置5的结构示意图，参见图10，前后平移驱动装置5可以包括前后平移驱动装置基座51、至少一个滑轨52、丝杠53、滑动块54和第二驱动器55。FIG. 10 is a schematic structural diagram of the front and rear translation drive device 5 . Referring to FIG. 10 , the front and rear translation drive device 5 may include a front and rear translation drive device base 51 , at least one slide rail 52 , screw 53 , sliding block 54 and second driver 55 .
至少一个滑轨52和丝杠53平行设置且均穿过滑动块54，至少一个滑轨52的两端固定安装于前后平移驱动装置基座51，丝杠53转动连接于前后平移驱动装置基座51，第二驱动器55驱动丝杠53旋转，第二驱动器55安装于前后平移驱动装置基座51，旋转驱动装置4安装于滑动块54。At least one slide rail 52 and the screw 53 are arranged in parallel and both pass through the sliding block 54. Both ends of the at least one slide rail 52 are fixedly installed on the front and rear translation drive device base 51, and the screw 53 is rotatably connected to the front and rear translation drive device base. 51. The second driver 55 drives the screw 53 to rotate. The second driver 55 is installed on the front and rear translation driving device base 51 , and the rotation driving device 4 is installed on the sliding block 54 .
使用时，第二驱动器55驱动丝杠53转动，丝杠53带动滑动块54沿滑轨移动，由于旋转驱动装置4安装于滑动块54，因此，滑动块54可以带动旋转驱动装置4沿细长构件7的长度方向移动。When in use, the second driver 55 drives the screw 53 to rotate, and the screw 53 drives the sliding block 54 to move along the slide rail. Since the rotating driving device 4 is installed on the sliding block 54, the sliding block 54 can drive the rotating driving device 4 along the elongated The member 7 moves lengthwise.
第二驱动器55的结构形式有多种，包括但不限于电机、液压形式和气动形式，本发明实施例对此并不做任何限定。The second driver 55 has various structural forms, including but not limited to motor, hydraulic and pneumatic forms, which are not limited in this embodiment of the present invention.
第二驱动器55与丝杠53连接的方式有多种，示例性的，前后平移驱动装置5还可以包括第二传动机构，第二驱动器55与第二传动机构连接，第二传动机构与丝杠53的另一端连接，使得第二驱动器55通过第二传动机构连接带动丝杠53旋转。There are many ways to connect the second driver 55 to the screw 53 . For example, the front and rear translation driving device 5 may also include a second transmission mechanism. The second driver 55 is connected to the second transmission mechanism. The second transmission mechanism is connected to the screw 53 . The other end of the screw 53 is connected, so that the second driver 55 drives the screw 53 to rotate through the second transmission mechanism.
第二传动机构的结构形式有多种，包括但不限于齿轮形式和皮带形式。The second transmission mechanism has various structural forms, including but not limited to gear form and belt form.
示例性的，继续参见图10，第二传动机构包括被动轮56、使动轮57和皮带，第二驱动器55驱动使动轮57转动，使动轮57通过皮带与被动轮56连接，使动轮57带动被动轮56转动，被动轮56与丝杠53的另一端连接，被动轮56带动丝杠53旋转。For example, continuing to refer to Figure 10, the second transmission mechanism includes a driven wheel 56, a driving wheel 57 and a belt. The second driver 55 drives the driving wheel 57 to rotate, and the driving wheel 57 is connected to the driven wheel 56 through the belt, so that the driving wheel 57 drives the passive wheel. The wheel 56 rotates, the driven wheel 56 is connected with the other end of the screw 53, and the driven wheel 56 drives the screw 53 to rotate.
由此，通过设置滑轨52、丝杠53、滑动块54和第二驱动器55的方式，使得滑动块54可以带动旋转驱动装置4沿细长构件7的长度方向移动。Therefore, by arranging the slide rail 52 , the screw 53 , the sliding block 54 and the second driver 55 , the sliding block 54 can drive the rotational driving device 4 to move along the length direction of the elongated member 7 .
需要说明的是，各实施例之间可以任意组合。It should be noted that the embodiments can be combined arbitrarily.
本领域普通技术人员可以理解：附图只是一个实施例的示意图，附图中的模块或流程并不一定是实施本发明所必须的。Those of ordinary skill in the art can understand that the accompanying drawing is only a schematic diagram of an embodiment, and the modules or processes in the accompanying drawing are not necessarily necessary for implementing the present invention.
本领域普通技术人员可以理解：实施例中的装置中的模块可以按照实施例描述分布于实施例的装置中，也可以进行相应变化位于不同于本实施例的一个或多个装置中。上述实施例的模块可以合并为一个模块，也可以进一步拆分成多个子模块。Those of ordinary skill in the art can understand that the modules in the device in the embodiment may be distributed in the device in the embodiment according to the description of the embodiment, or may be correspondingly changed and located in one or more devices different from this embodiment. The modules of the above embodiments can be combined into one module, or further divided into multiple sub-modules.
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明实施例技术方案的精神和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be used Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent substitutions are made to some of the technical features; however, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (19)
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| CN202011632717.XA CN114681069B (en) | 2020-12-31 | 2020-12-31 | Stereotactic transmission system for controlling elongated members |
| CN202180066111.0A CN116761567A (en) | 2020-12-31 | 2021-12-31 | A stereotactic transmission system for controlling elongated members |
| PCT/CN2021/143704 WO2022143986A1 (en) | 2020-12-31 | 2021-12-31 | Three-dimensional directional transmission system for controlling elongated member |
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| WO2022143986A1 (en) | 2022-07-07 |
| CN116761567A (en) | 2023-09-15 |
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Address after: 102609, 1st floor, Building 6, No. 69 Qingfeng West Road, Daxing Biomedical Industry Base, Zhongguancun Science and Technology Park, Daxing District, Beijing Patentee after: Huake Precision (Beijing) Medical Equipment Co.,Ltd. Country or region after: China Address before: 102609 Room 401, 4th floor, building 12-1, yard 26, Yongwang West Road, Daxing biomedical industry base, Zhongguancun Science Park, Daxing District, Beijing Patentee before: SINOVATION (BEIJING) MEDICAL TECHNOLOGY Co.,Ltd. Country or region before: China |