VR simulation traction device for neurosurgeryTechnical Field
The invention relates to the technical field of medical instruments, in particular to a VR simulation traction device for neurosurgery.
Background
With rapid development of medical technology, virtual Reality (VR) technology is increasingly used in the medical field. Neurosurgery, which is a high-precision, high-risk medical procedure, places greater demands on surgical assistance techniques. Virtual reality technology is becoming a research hotspot in the field of neurosurgery by virtue of its unique immersive experience and high degree of simulation. In neurosurgery, the craniotomy site needs to be towed by a towing device.
The device comprises a probe rod made of titanium alloy materials, wherein the head of the probe rod is provided with a 360-degree panoramic camera, a group of strong lights are circumferentially distributed on the outer ring of the camera, the camera is electrically connected with external VR glasses, output signals of the camera are processed through the VR glasses to generate a simulated intracranial operation environment, a crushing unit is arranged in the middle of the probe rod and comprises a mandrel, a driving motor, a slip ring, a first connecting rod, a second connecting rod, a crushing claw and a piston, the device is simple in structure, the data transmitted by the 360-degree panoramic camera is received through the VR glasses and then processed to generate the simulated intracranial operation environment, the advancing route of the probe rod is corrected in real time, and when the probe rod reaches a preset position, the crushing unit crushes blood clots around the intracranial nerves and then cleans the blood clots.
However, in an actual surgical operation, the device cannot pull the craniotomy position, so that the accuracy and precision of the operation cannot be ensured, and the lens of the camera cannot be cleaned, so that photographing may be unclear, and the tissue cannot be discharged while the diseased tissue is cut.
Disclosure of Invention
The head incision device aims at solving the problems that in the prior art, the head incision position cannot be pulled, so that the operation accuracy and the operation accuracy cannot be guaranteed, the lens of a camera cannot be cleaned, shooting is possibly unclear, and tissues cannot be discharged while pathological tissues are cut.
In order to solve the problems, the invention adopts the following technical scheme.
The VR simulation traction device for neurosurgery comprises a transverse tube and a fastening mechanism arranged on the transverse tube, wherein one end, close to the fastening mechanism, of the transverse tube is provided with a supporting mechanism and a linkage mechanism respectively, the linkage mechanism is provided with a forward direction retracting mechanism and a group of lateral direction retracting mechanisms, the supporting mechanism is provided with an intracranial treatment mechanism, the intracranial treatment mechanism comprises an operation box fixed at the upper end of the supporting mechanism, one side of the operation box is provided with a handle, the front end of the operation box is in through connection with a main flexible shaft tube, the front end of the main flexible shaft tube is in through connection with a working head, the inner sides of the operation box, the main flexible shaft tube and the working head are jointly through provided with a cutting assembly, a liquid suction tube, a liquid inlet tube and a wire bundle, the front end of the working head is embedded and provided with a liquid inlet nozzle, a cold light lamp, a CCD camera and a main spray head, the side of the main spray head is provided with a first cleaning head and a second cleaning head, and the first cleaning head faces the CCD camera and the second cleaning head faces the cold light lamp;
The linkage mechanism comprises a first linkage square sleeve and a second linkage square sleeve which are sleeved on a transverse pipe in a sliding manner, a first linkage fastening screw rod is connected to the upper end of the first linkage square sleeve in an embedded engagement manner, a first fixed shaft seat is fixedly connected to one side, close to the first linkage fastening screw rod, of the upper end of the first linkage square sleeve, an electric cylinder is rotatably connected to one end of the inner side of the first fixed shaft seat, a working plate is fixedly connected to the upper end of the second linkage square sleeve, a second linkage fastening screw rod is connected to the front side of the second linkage square sleeve in an embedded engagement manner, a limit guide sleeve and a second fixed shaft seat are fixedly installed on the front side and the rear side of the upper end of the working plate respectively, a limit guide rod penetrates through the inner side of the limit guide sleeve and is fixedly connected with a limit guide rod, four movable arms are fixedly connected to the inner sides of the second movable shaft seat in a rotating manner, two adjacent left ends and right ends of the first movable shaft seat are rotatably connected to one movable shaft seat, and the output end of the electric cylinder is fixedly connected to one movable shaft seat.
Optionally, the feed liquor mouth is connected with the drawing liquid pipe, main shower nozzle is connected with the feed liquor pipe, and installs main solenoid valve between main shower nozzle and feed liquor pipe, be connected with first branch pipe between feed liquor pipe and the first cleaning head, and be connected with the second branch pipe between feed liquor pipe and the second cleaning head, install first solenoid valve on the first branch pipe, install the second solenoid valve on the second branch pipe, cold light lamp, CCD camera, first solenoid valve and main solenoid valve are all connected with the wire bundle.
Optionally, the liquid pump and the first flow sensor are installed in the liquid pump tube located in the operation box, and the pressurizing pump and the second flow sensor are installed in the liquid inlet tube located in the operation box.
Optionally, the cutting assembly includes outer flexible shaft pipe, the equal fixedly connected with flange piece in front and back of the outside of outer flexible shaft pipe, and run through in the inboard of outer flexible shaft pipe and be provided with interior flexible shaft pipe, the rear end fixedly connected with of interior flexible shaft pipe presses the portion, and in the front end fixedly connected with of flexible shaft pipe a set of elasticity clamping jaw, every install the blade on the elasticity clamping jaw, the inboard of interior flexible shaft pipe runs through and is provided with the trash can, be located corresponding outer flexible shaft pipe and presses and install reset spring on the interior flexible shaft pipe between the portion, press and install pressure sensor between the reset spring.
Optionally, two the flange piece is fixed respectively at the inside rear end of operation box and the inside front end of working head, reset spring and pressing part are located the rear end of operation box, the front end of working head is seted up with elasticity clamping jaw assorted through-hole.
Optionally, the side direction is pulled mechanism and is including fixing the fastening connection piece on link gear, the front end fixedly connected with link of fastening connection piece, the upper end embedding meshing of link is connected with direction adjusting screw, and is provided with the pivot in the embedding of one side of the front end of link, the one end rotation of pivot is connected with first rotating arm, and installs torsion spring between pivot and first rotating arm, the front end of first rotating arm is connected with the second rotating arm through angle adjusting screw, and has been seted up the spout at the upper end of first rotating arm is located direction adjusting screw's lower extreme.
Optionally, a lateral electric cylinder is mounted on the front side of the upper end of the second rotating arm, and a lateral retracting piece is fixedly connected to the output end of the lateral electric cylinder.
Optionally, the forward pulling mechanism comprises a fixed connection strip fixed on the linkage mechanism, a connecting plate is fixedly connected to the front side of the upper end of the fixed connection strip, a motor frame is fixedly connected to the upper end of the connecting plate, a group of sliding rails are fixedly connected to the upper end of the connecting plate, which is located on the inner side of the motor frame, a group of sliding rails are slidably connected to the upper end of the sliding rails, gears are connected to the inner side of the rack frame in a meshed mode, a motor is fixedly connected to the upper end of the motor frame, and the output end of the motor is fixedly connected with the gears.
Optionally, supporting mechanism includes the clamp splice on the horizontal pipe, the upper end embedding meshing of clamp splice is connected with first screw rod, and is close to the rear side fixedly connected with stand of first screw rod in the upper end of clamp splice, the sliding sleeve has been cup jointed on the stand, one side fixedly connected with curved connecting rod of sliding sleeve, and the opposite side embedding meshing of sliding sleeve is connected with the second screw rod, the spring post is installed to the upper end embedding in the outside of stand, the upper end fixedly connected with ball cage of curved connecting rod, the inboard of ball cage rotates and is connected with universal bulb, the upper end fixedly connected with bracing piece of universal bulb, the upper end fixedly connected with connecting block of bracing piece.
Optionally, the fastening mechanism includes the first party sleeve of sliding sleeve joint on the horizontal pipe, the embedded meshing of first party telescopic upper end is connected with first bolt, and at the telescopic rear end fixedly connected with second connecting rod of first party, the rear end of second connecting rod passes through first screw fixedly connected with head rod, the rear end fixedly connected with clamp of head rod.
Compared with the prior art, the technical scheme provided by the invention has at least the following beneficial effects:
According to the technical scheme, the first movable shaft seat is pulled to the left through the electric cylinder in the linkage mechanism, the four movable arms mutually rotate, the two first movable shaft seats move in opposite directions, the two lateral retracting mechanisms respectively move to the two sides in the left-right direction, so that the scalp pre-cut on the model skull can be retracted from the two sides, the two lateral retracting mechanisms pull the second movable shaft seat and the limit guide rod through the two movable arms at the front end when moving, the limit guide rod slides backwards on the inner side of the limit guide sleeve, the forward retracting mechanism is driven to move backwards, the scalp pre-cut on the model skull can be retracted from the rear side, and the scalp pre-cut can be retracted from the three directions at one time, so that the cutting position is completely exposed, and the operation is convenient.
The first rotating arm can be rotated at a certain angle by extruding the first rotating arm through a direction adjusting screw in the lateral retracting mechanism, the rotating arm can be rotated at a certain angle by adjusting an angle adjusting screw, the lateral retracting piece can be driven to move in the vertical direction through a lateral electric cylinder and move to the position of the lateral retracting piece, lateral square sleeves on the two lateral retracting mechanisms are moved to the proper positions on a transverse tube, the pre-cut scalp on the model skull can be retracted from two sides through the two lateral retracting pieces, the position of the forward retracting piece can be adjusted in the front-rear direction through a motor, a gear and a rack frame, the position of the forward retracting piece can be adjusted in the vertical direction through the forward electric cylinder, the forward retracting piece can be moved to the proper position through the forward retracting piece, the pre-cut scalp on the model skull can be retracted from the rear side through the mutual matching of the two lateral retracting mechanisms, the cut scalp on the model skull can be fully exposed from the required position through the mutual matching of the two lateral retracting mechanisms, and the required position can be fully exposed on the model skull, and the accuracy of perforation can be ensured.
The sliding sleeve can be locked at different positions on the upright post through the second screw rod, so that the intracranial treatment mechanism is positioned at a proper height, and through the mutual matching of the ball cage and the universal ball head, the universal ball head rotates in the ball cage, and the intracranial treatment mechanism can be rotated by 360 degrees, so that medical staff can conveniently operate the intracranial treatment mechanism, and the neurosurgery operation is more stable.
The CCD camera can clearly shoot intracranial conditions through the cold light lamp, medical staff can conveniently penetrate through intracranial lesions, the surface of the cold light lamp can be washed through the liquid inlet pipe, the first electromagnetic valve, the first branch pipe and the first washing head, the surface of the cold light lamp is prevented from being shielded, the purpose of supplementing light for the CCD camera cannot be achieved, the surface of the CCD camera can be washed through the liquid inlet pipe, the second electromagnetic valve, the second branch pipe and the second washing head, and the surface of the CCD camera is prevented from being shielded, so that the purpose of shooting cannot be achieved.
The liquid suction device comprises a liquid suction pipe, a liquid inlet pipe, a liquid suction pipe, a first flow sensor, a pressurizing pump, a main electromagnetic valve, a liquid inlet pipe, a liquid suction pipe, a pressure pump and a second flow sensor, wherein the liquid suction pipe, the first flow sensor and the liquid suction pipe can discharge intracranial effusion outside the body, the first flow sensor can record the volume of effusion discharge, the liquid suction pipe, the main nozzle, the pressurizing pump and the main electromagnetic valve can flush the intracranial effusion, the position of the intracranial effusion which is blocked by blood is flushed away, so that medical staff can observe intracranial conditions conveniently, and the second flow sensor can record the volume of flushing liquid discharge.
The intracranial lesion tissues can be resected through the pressing part, the reset spring, the inner flexible shaft tube, the outer flexible shaft tube, the elastic clamping jaw and the blade, the rear end of the impurity removal is installed together with the negative pressure pump, the lesion tissues can be automatically adsorbed into the impurity removal tube, and then the lesion tissues are automatically discharged out of the body, and meanwhile, the device is automatically washed, automatically discharged, and is convenient and fast.
Drawings
The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments of the present invention and, together with the description, further serve to explain the principles of the invention and to enable a person skilled in the pertinent art to make and use the invention.
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a fastening mechanism according to the present invention;
FIG. 3 is a schematic diagram of a linkage mechanism according to the present invention;
FIG. 4 is a schematic view of a lateral retracting mechanism according to the present invention;
FIG. 5 is a schematic view of the forward retracting mechanism according to the present invention;
FIG. 6 is a schematic view of a supporting mechanism according to the present invention;
FIG. 7 is a schematic view of a partial structure of an intracranial treatment mechanism in accordance with the present invention;
FIG. 8 is a schematic view of a partially cut-away construction of the cartridge of the present invention;
FIG. 9 is a schematic view of a partial cross-sectional structure of a working head of the present invention;
FIG. 10 is an enlarged schematic view of portion A of FIG. 9;
FIG. 11 is a schematic view of a partially cut-away configuration of a cutting assembly of the present invention.
[ Reference numerals ]
1. A transverse tube;
2. a fastening mechanism; 21, a first sleeve, 22, a first screw, 23, a clamp, 24, a first connecting rod, 25, a second connecting rod, 26 and a first bolt;
3. The device comprises a supporting mechanism, 31, a clamping block, 32, a first screw, 33, a second screw, 34, an upright post, 35, a sliding sleeve, 36, a spring post, 37, a bent connecting rod, 38, a ball cage, 39, a universal ball head, 310, a supporting rod, 311 and a connecting block;
4. an intracranial treatment mechanism, 41, an operation box, 42, a handle, 43 and a cutting assembly;
431. Outer flexible shaft tube 432, inner flexible shaft tube 433, flange piece 434, reset spring 435, impurity removing tube 436, pressing part 437, elastic clamping jaw 438, blade 439, pressure sensor;
44. Liquid suction pipe, 45, liquid inlet pipe, 46, wire bundle, 47, main flexible shaft pipe, 48, working head, 49, liquid suction pump, 410, pressure pump, 411, first flow sensor, 412, second flow sensor, 413, liquid inlet nozzle, 414, cold light lamp, 415, CCD camera, 416, first electromagnetic valve, 417, first branch pipe, 418, first cleaning head, 419, main nozzle, 420, second cleaning head, 421, main electromagnetic valve, 422, second branch pipe, 423, second electromagnetic valve;
5. The device comprises a lateral pulling mechanism, a fastening connection piece, a 52, a sliding groove, a 53, a first rotating arm, a 54, an angle adjusting screw, a 55, a second rotating arm, a 56, a lateral pulling piece, a 57, a lateral electric cylinder, a 58, a rotating shaft, a 59, a torsion spring, a 510, a connecting frame, a 511 and a direction adjusting screw;
6. the device comprises a forward retracting mechanism, 61, a fixed connecting bar, 62, a gear, 63, a sliding rail, 64, a connecting plate, 65, a motor, 66, a motor frame, 67, a rack frame, 69, a forward electric cylinder and 610, a forward retracting piece;
7. the device comprises a linkage mechanism, a first linkage fastening screw rod, a first fixed shaft seat, a second fixed shaft seat, a first movable shaft seat, a second movable shaft seat, a first movable shaft seat, a second fixed shaft seat, a working plate, a movable arm, a limiting guide sleeve, a limiting guide rod, a limiting guide sleeve, a second linkage fastening screw rod, a second movable shaft seat, a second linkage sleeve and a first linkage sleeve.
Specific structures and devices are labeled in the drawings to enable clear implementation of embodiments of the invention, but this is merely illustrative and is not intended to limit the invention to the specific structures, devices and environments that may be modified or adapted by those of ordinary skill in the art, based on the specific needs.
Detailed Description
The invention will now be described in detail with reference to the drawings and to specific embodiments. While the invention has been described herein in detail in order to make the embodiments more detailed, the following embodiments are preferred and can be embodied in other forms as well known to those skilled in the art, and the accompanying drawings are only for the purpose of describing the embodiments more specifically and are not intended to limit the invention to the specific forms disclosed herein.
It should be noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the relevant art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.
Generally, the terminology may be understood, at least in part, from the use of context. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in a singular sense, or may be used to describe a combination of features, structures, or characteristics in a plural sense, depending at least in part on the context. In addition, the term "based on" may be understood as not necessarily intended to convey an exclusive set of factors, but may instead, depending at least in part on the context, allow for other factors that are not necessarily explicitly described.
It is to be understood that the meaning of "on," "above," "over" and "above" in the present invention should be read in the broadest manner so that "on" means not only "directly on" but also includes "on" something with intervening features or layers therebetween, and "on" or "above" means not only "on" or "over" but also may include the meaning of "on" or "over" it without intervening features or layers therebetween.
Furthermore, spatially relative terms such as "under," "below," "lower," "above," "upper," and the like may be used herein for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented and the spatially relative descriptors used herein may similarly be interpreted accordingly.
As shown in fig. 1 to 11, the embodiment of the invention provides a VR simulation traction device for neurosurgery, which comprises a transverse tube 1 and a fastening mechanism 2 arranged on the transverse tube 1, wherein one end of the transverse tube 1, which is close to the fastening mechanism 2, is respectively provided with a supporting mechanism 3 and a linkage mechanism 7, the linkage mechanism 7 is provided with a forward traction mechanism 6 and a group of lateral traction mechanisms 5, the forward traction mechanism 6 is arranged between the group of lateral traction mechanisms 5, the lateral traction mechanism 5 and the forward traction mechanism 6 are moved to a proper position through the linkage mechanism 7, a pre-cut position on a model skull can be drawn to two sides through the group of lateral traction mechanisms 5, the pre-cut position can be drawn to the rear side through the forward traction mechanism 6, the cut position is drawn in a triangle shape, so that the position needing punching can be completely exposed, the position needing punching is conveniently opened on the model skull, the supporting mechanism 3 is provided with an intracranial treatment mechanism 4, and neurosurgery can be performed through the intracranial treatment mechanism 4.
As shown in fig. 1 and 2, the fastening mechanism 2 includes a first sleeve 21 slidably sleeved on the transverse tube 1, a first bolt 26 is embedded and engaged at an upper end of the first sleeve 21, after the first sleeve 21 is sleeved on a proper position of the transverse tube 1, the first sleeve 21 can be locked on the transverse tube 1 through the first bolt 26 so as to keep stable, a second connecting rod 25 is fixedly connected to a rear end of the first sleeve 21, a first connecting rod 24 is fixedly connected to a rear end of the second connecting rod 25 through a first screw 22, a clamp 23 is fixedly connected to a rear end of the first connecting rod 24, and the first screw 22 is loosened anticlockwise, so that the first connecting rod 24 can be adjusted at a certain angle by taking the first screw 22 as a center of a circle, and further, the angle of the clamp 23 is adjusted, and the clamp 23 is conveniently fixed on an operating table, so that the transverse tube 1, the supporting mechanism 3, the lateral traction mechanism 5 and the forward traction mechanism 6 remain stable.
As shown in fig. 1 and 3, the linkage mechanism 7 includes a first linkage square sleeve 713 and a second linkage Fang Taotong which are slidably sleeved on the transverse tube 1, a first linkage fastening screw 71 is embedded and engaged at the upper end of the first linkage square sleeve 713, a first fixed shaft seat 72 is fixedly connected to one side of the upper end of the first linkage square sleeve 713, which is close to the first linkage fastening screw 71, one end of the inner side of the first fixed shaft seat 72 is rotatably connected with an electric cylinder 73, the upper end of the second linkage square sleeve 712 is fixedly connected with a working plate 76, a second linkage fastening screw 710 is embedded and engaged at the front side of the second linkage square sleeve 712, and after the first linkage square sleeve 713 and the second linkage square sleeve 712 are sleeved at a proper position 712 on the transverse tube 1, the first linkage square sleeve 713 and the second linkage Fang Taotong can be locked on the transverse tube 1 through the first linkage fastening screw 71 and the second linkage fastening screw 710 respectively so as to keep stable; the front and rear sides of the upper end of the working plate 76 are respectively and fixedly provided with a limit guide sleeve 78 and a second fixed shaft seat 75, the inner side of the limit guide sleeve 78 is penetrated and connected with a limit guide rod 79 in a sliding manner, the rear end of the limit guide rod 79 is fixedly connected with a second movable shaft seat 711, the inner sides of the second fixed shaft seat 75 and the second movable shaft seat 711 are jointly and rotatably connected with four movable arms 77, the left end and the right end of each adjacent two movable arms 77 are respectively and rotatably connected with a first movable shaft seat 74, the output end of the electric cylinder 73 is fixedly connected with one of the first movable shaft seats 74, the front end of the limit guide rod 79 is fixedly connected with a fixed connecting strip 61, so that the electric cylinder can move inside the limit guide sleeve 78 through the limit guide rod 79, the front pulling mechanism 6 is driven to move back and forth, the upper end of the first movable shaft seat 74 is fixed with the fastening connection sheet 51, so that the first movable shaft seat 74 can be driven to move left and right through the electric cylinder 73, the two side pulling mechanisms 5 are driven to move in opposite directions or relatively move, so that the two side pulling mechanisms 5 are simultaneously close to or far away from each other, the first movable shaft seat 74 is pulled to the left side through retraction of the electric cylinder 73, at the moment, the four movable arms 77 rotate mutually, the two first movable shaft seats 74 move in opposite directions, the two side pulling mechanisms 5 move in the left and right directions respectively for two times, and therefore scalp pre-cut on a model skull can be pulled from two sides, the two side pulling mechanisms 5 move, meanwhile, the two movable arms 77 at the front end pull the second movable shaft seat 711 and the limit guide rod 79, the limit guide rod 79 slide backwards on the inner side of the limit guide sleeve 78, the front pulling mechanism 6 is driven to move backwards, the scalp pre-cut on the model skull can be pulled back from the rear side, and the scalp can be completely cut from three directions in advance, and scalp can be completely exposed at one time, and scalp can be completely cut out from three positions during scalp cutting operation.
As shown in fig. 1 and fig. 4, the lateral pulling mechanism 5 includes a fastening connection piece 51 fixed on the linkage mechanism 7, a connecting frame 510 is fixedly connected to the front end of the fastening connection piece 51, a direction adjusting screw 511 is engaged and connected to the upper end of the connecting frame 510, a rotating shaft 58 is engaged and arranged on one side of the front end of the connecting frame 510, one end of the rotating shaft 58 is rotatably connected with a first rotating arm 53, and a torsion spring 59 is installed between the rotating shaft 58 and the first rotating arm 53, so that the first rotating arm 53 is always in a tightening state through the torsion spring 59; the front end of the first rotating arm 53 is connected with a second rotating arm 55 through an angle adjusting screw 54, a chute 52 is formed at the lower end of a direction adjusting screw 511 positioned at the upper end of the first rotating arm 53, the first rotating arm 53 is pressed downwards by the direction adjusting screw 511 through the rotation of the direction adjusting screw 511, the lower end of the direction adjusting screw 511 slides along the chute 52, meanwhile, the first rotating arm 53 is adjusted at a certain angle by taking a rotating shaft 58 as a center, the angle adjusting screw 54 is loosened anticlockwise, the second rotating arm 55 can be adjusted at a certain angle by taking the angle adjusting screw 54 as a center, the angle of the lateral retracting piece 56 is adjusted, a lateral electric cylinder 57 is mounted at the front side of the upper end of the second rotating arm 55, the lateral retracting piece 56 can be driven to move in the vertical direction through the extension of the lateral electric cylinder 57, the lateral retracting piece 56 can be moved to a proper position, the output end of the lateral electric cylinder 57 is fixedly connected with the lateral retracting piece 56, and the lateral retracting piece 56 can be used for retracting a preset position on a model skull.
As shown in fig. 1 and 5, the forward pulling mechanism 6 includes a fixed connection bar 61 fixed on the linkage mechanism 7, a connection plate 64 is fixedly connected to the front side of the upper end of the fixed connection bar 61, a motor frame 66 is fixedly connected to the upper end of the connection plate 64, a group of sliding rails 63 are fixedly connected to the upper end of the connection plate 64 and located inside the motor frame 66, a rack frame 67 is slidably connected to the upper end of the group of sliding rails 63, a gear 62 is engaged with the inner side of the rack frame 67, a motor 65 is fixedly connected to the upper end of the motor frame 66, the output end of the motor 65 is fixedly connected with the gear 62, the gear 62 is driven to rotate by the motor 65, the gear 62 is engaged with the rack frame 67, so that the rack frame 67 slides back and forth along the sliding rails 63, thereby adjusting the position of the forward pulling piece 610 in the front-back direction, and further moving the forward pulling piece 610 to a proper position by driving the forward pulling piece 610 in the vertical direction through the expansion and contraction of the forward pulling piece 69.
As shown in fig. 1 and 6, the supporting mechanism 3 comprises a clamping block 31 clamped on the transverse tube 1, a first screw rod 32 is embedded and meshed at the upper end of the clamping block 31, the clamping block 31 is clamped on the transverse tube 1 at a proper position, then the clamping block 31 can be locked on the transverse tube 1 through the first screw rod 32 so as to keep stable, a vertical column 34 is fixedly connected to the upper end of the clamping block 31 near the rear side of the first screw rod 32, a sliding sleeve 35 is sleeved on the vertical column 34, one side of the sliding sleeve 35 is fixedly connected with a bent connecting rod 37, a second screw rod 33 is embedded and meshed at the other side of the sliding sleeve 35, the sliding sleeve 35 is sleeved on the proper position on the vertical column 34, then the sliding sleeve 35 can be locked on the vertical column 34 through the second screw rod 33 so as to keep stable, so that the intracranial treatment mechanism 4 is positioned at a proper height, a spring column 36 is embedded and installed at the outer upper end of the vertical column 34, the sliding height of the sliding sleeve 35 is limited through the spring column 36, after the spring column 36 is pressed, the sliding head 35 can be fixedly connected with the vertical column 34, the sliding rod 37 is fixedly connected with a universal joint rod 39, the universal joint mechanism 39 is fixedly connected with a universal joint rod 39, the universal joint mechanism is fixedly connected with the universal joint rod 38, and the universal joint mechanism is connected with the universal joint rod 38, the universal joint mechanism is 3, the universal joint mechanism is connected with the universal joint rod 38, the universal joint mechanism is fixed with the universal joint rod 38, the universal joint mechanism is 3 through the universal joint 3, the universal joint mechanism is fixed by the universal joint mechanism is 3 through the universal joint 3, the joint 3 is fixed by the universal joint 3 through the joint 3, the joint mechanism is 3 is fixed by the joint 3 through the joint 3 is fixed.
As shown in fig. 1 and 7-10, the intracranial treatment mechanism 4 comprises an operation box 41 fixed at the upper end of the supporting mechanism 3, a handle 42 is arranged at one side of the operation box 41, and the whole intracranial treatment mechanism 4 can be conveniently operated by holding the handle 42 by hands; the front end of the operation box 41 is connected with a main flexible shaft tube 47 in a penetrating way, the main flexible shaft tube 47 can be bent in any shape, so that the working head 48 can be conveniently moved to an intracranial proper position, the front end of the main flexible shaft tube 47 is connected with the working head 48 in a penetrating way, the inner sides of the operation box 41, the main flexible shaft tube 47 and the working head 48 are jointly provided with a cutting component 43, a liquid suction tube 44, a liquid inlet tube 45 and a wire bundle 46 in a penetrating way, the front end of the working head 48 is embedded with a liquid inlet 413, a cold light lamp 414, a CCD camera 415 and a main spray head 419, the CCD camera 415 can be clearly shot by the cold light lamp 414, so that medical staff can conveniently penetrate through intracranial lesions, the side surface of the main spray head 419 is provided with a first cleaning head 418 and a second cleaning head 420, the first cleaning head 418 faces the CCD camera 415, after the first electromagnetic valve 416 is opened, the flushing liquid sequentially enters the liquid inlet tube 45, the first electromagnetic valve 414 and the first electromagnetic valve 415 and the second electromagnetic valve 415 are prevented from being sequentially opened, and the flushing liquid is prevented from entering the CCD camera 415 and the CCD camera 415 from the first electromagnetic valve 415 and the second electromagnetic valve 415, and the CCD camera 415 is prevented from being sequentially flushed from the CCD camera 415 and the CCD camera 415 is flushed from the CCD camera 415 and the CCD camera lens is completely. But cannot achieve the purpose of photographing.
The liquid inlet nozzle 413 is connected with the liquid suction pipe 44, the main spray head 419 is connected with the liquid inlet pipe 45, a main electromagnetic valve 421 is installed between the main spray head 419 and the liquid inlet pipe 45, a first branch pipe 417 is connected between the liquid inlet pipe 45 and the first cleaning head 418, a second branch pipe 422 is connected between the liquid inlet pipe 45 and the second cleaning head 420, a first electromagnetic valve 416 is installed on the first branch pipe 417, a second electromagnetic valve 423 is installed on the second branch pipe 422, the cold light lamp 414, the CCD camera 415, the first electromagnetic valve 416 and the main electromagnetic valve 421 are all connected with the wire bundle 46, and electric energy is provided for the cold light lamp 414, the CCD camera 415, the first electromagnetic valve 416 and the main electromagnetic valve 421 by connecting the rear end of the wire bundle 46 with an external power supply.
The suction pump 49 and the first flow sensor 411 are installed in the operation box 41 on the suction pipe 44, the pressurizing pump 410 and the second flow sensor 412 are installed in the operation box 41 on the liquid inlet pipe 45, the suction pump 49, the first flow sensor 411, the pressurizing pump 410 and the second flow sensor 412 are also connected with the wire bundle 46 and then connected with an external power supply, so that electric energy is provided for the suction pump 49, the first flow sensor 411, the pressurizing pump 410 and the second flow sensor 412, after the medical staff wears the VR head to display, the working head 48 is inserted into the cranium from a drilled hole in advance on the model cranium, the liquid inlet 413 is aligned to the position of the required suction liquid, after the suction pump 49 is started, the intracranial liquid can sequentially pass through the liquid inlet 413, the suction pipe 44, the first flow sensor 411 and the suction pump 49 and then be discharged out of the body, the volume discharged by the first flow sensor 411 can be recorded, the rear end of the liquid inlet pipe 45 is connected with the liquid inlet 419, the main pressure pump 419 is aligned with the main spray head, the main spray head is started, the main spray head is stopped, and the main spray head is opened, and the main spray head is convenient to spray the flushing liquid from the main spray head position of the main spray head through the main spray head.
As shown in fig. 1 and 11, the cutting assembly 43 includes an outer flexible shaft tube 431, front and rear ends of the outer side of the outer flexible shaft tube 431 are fixedly connected with flange plates 433, an inner flexible shaft tube 432 is disposed through the inner side of the outer flexible shaft tube 431, a pressing portion 436 is fixedly connected to the rear end of the inner flexible shaft tube 432, a set of elastic clamping jaws 437 is fixedly connected to the front end of the inner flexible shaft tube 432, a blade 438 is mounted on each elastic clamping jaw 437, an impurity removing tube 435 is disposed through the inner side of the inner flexible shaft tube 432, a return spring 434 is mounted between the corresponding outer flexible shaft tube 431 and the pressing portion 436 on the inner flexible shaft tube 432, a pressure sensor 439 is mounted between the pressing portion 436 and the return spring 434, and the outer flexible shaft tube 431 and the inner flexible shaft tube 432 can be bent in any shape, so that the blade 438 can be conveniently moved to an intracranial proper position 438. The two flange pieces 433 are respectively fixed at the rear end inside the operation box 41 and the front end inside the working head 48, the reset spring 434 and the pressing part 436 are both positioned at the rear end of the operation box 41, the front end of the working head 48 is provided with a through hole matched with the elastic clamping jaw 437, after the medical staff wears the VR head to display, the working head 48 is inserted into the cranium from a pre-drilled hole on the model cranium, the pressing part 436 is pressed by hands, the reset spring 434 is subjected to extrusion deformation, the pressure sensor 439 monitors the pressure, the inner flexible shaft tube 432 moves forwards inside the outer flexible shaft tube 431, the elastic clamping jaw 437 and the blade 438 extend out of the inner side of the outer flexible shaft tube 431, the operation box 41 is moved by hands to drive the main flexible shaft tube 47 and the working head 48 to move together, the blade 438 is aligned to a lesion tissue to be cut, the pressing part 436 is released again, the reset spring 434 rebounds, the pressure on the pressure sensor is gradually reduced until the pressure on the pressure sensor disappears, the inner flexible shaft tube 432 and the elastic clamping jaw 437 retract outwards along with the elastic clamping jaw 437, the inner flexible shaft tube 431 is limited by the outer flexible shaft tube 431, a group of elastic clamping jaws 437 is folded towards the center, and the corresponding lesion tissue 438 is cut by the cutting off the blade 438; the rear end of the impurity discharging tube 435 is installed together with the negative pressure pump, when the pressure sensor 439 detects the pressure and disappears, the negative pressure pump is automatically started to enable the disease tissues to be adsorbed into the impurity discharging tube 435 and then discharged out of the body, the pressurizing pump 410 is automatically started, the main electromagnetic valve 421 is opened, the flushing fluid is sprayed out of the main spray head 419 to clean the cutting position, the liquid suction pump 49 is automatically started after the cleaning is finished, the flushing fluid is discharged out of the body through the liquid inlet nozzle 413, the liquid suction tube 44, the first flow sensor 411 and the liquid suction pump 49 in sequence, thereby realizing automatic discharge of the lesion tissues and automatic flushing after the cutting is realized, and (5) automatically discharging liquid.
The technical scheme provided by the invention has the following working processes:
When the neurosurgery operation is required to be simulated, firstly, the epidermis of the model skull at the position to be perforated is cut, then, after the first sleeve 21 is sleeved on the proper position of the transverse tube 1, the first sleeve 21 is locked on the transverse tube 1 through the first bolt 26, then, the first screw 22 is loosened anticlockwise to adjust the angle of the clamp 23, and then the clamp 23 is fixed on an operating table.
After the first and second interlocking square sleeves 713 and 712 of the interlocking mechanism 7 are sleeved at proper positions on the transverse tube 1, the first and second interlocking square sleeves 713 and Fang Taotong 712 can be locked on the transverse tube 1 through the first and second interlocking fastening screws 71 and 710, respectively.
Then, the first rotating arm 53 is pressed downwards by the direction adjusting screw 511 by rotating the direction adjusting screw 511, so that the first rotating arm 53 is adjusted at a certain angle by taking the rotating shaft 58 as the center of a circle, the angle adjusting screw 54 is loosened anticlockwise, so that the second rotating arm 55 is adjusted at a certain angle by taking the angle adjusting screw 54 as the center of a circle, the lateral electric cylinder 57 is started again, the lateral retracting piece 56 is driven to move in the vertical direction by the expansion and contraction of the lateral electric cylinder 57, the lateral retracting piece 56 is moved to a proper position, and the two lateral retracting pieces 56 extend from the scalp which is cut in advance on the model skull.
Then, the motor 65 is started, the gear 62 is driven to rotate by the motor 65, the gear 62 is meshed with the rack frame 67 to drive, the rack frame 67 slides forwards and backwards along the sliding rail 63, the forward retracting piece 610 is adjusted to a proper position in the front-back direction, the forward electric cylinder 69 is started again, the forward retracting piece 610 is moved to a proper position through the telescopic forward retracting piece 610 of the forward electric cylinder 69 moving in the vertical direction, and the forward retracting piece 610 stretches into a pre-cut scalp position on the model skull.
Then, the electric cylinder 73 is started, the electric cylinder 73 is retracted, the first movable shaft seat 74 is pulled to the left, at the moment, the four movable arms 77 mutually rotate, the two first movable shaft seats 74 move in opposite directions, the two lateral retracting mechanisms 5 respectively move in the left-right direction and retract the scalp which is cut in advance on the model skull from two sides through the two lateral retracting pieces 56, the two lateral retracting mechanisms 5 pull the second movable shaft seat 711 and the limiting guide rod 79 through the two movable arms 77 at the front end while moving, the limiting guide rod 79 slides backwards on the inner side of the limiting guide sleeve 78 and drives the forward retracting mechanism 6 to move backwards, the scalp which is cut in advance on the model skull is retracted from the rear side through the forward retracting pieces 610, the position which needs to be punched is completely exposed, and then holes are formed on the model skull.
Then, after clamping the clamping block 31 on the proper position of the transverse tube 1, locking the clamping block 31 on the transverse tube 1 through the first screw rod 32, after wearing a VR head display by medical staff, holding the handle 42 by hand, operating the whole intracranial treatment mechanism 4, inserting the working head 48 into the cranium from a drilled hole on the model cranium, and illuminating and supplementing light to the cranium through the cold light lamp 414, so that the CCD camera 415 can clearly shoot the intracranial condition, and the medical staff can conveniently penetrate through the intracranial lesions.
When the lesion tissue is found to be cut, the pressing part 436 is pressed by hand, the reset spring 434 is pressed and deformed, the inner flexible shaft tube 432 moves forward on the inner side of the outer flexible shaft tube 431, the elastic clamping jaw 437 and the blade 438 extend out of the inner side of the outer flexible shaft tube 431, the operation box 41 is moved by hand to align the blade 438 to the lesion tissue to be cut, the pressing part 436 is released, the reset spring 434 rebounds, the inner flexible shaft tube 432 and the elastic clamping jaw 437 retract into the outer flexible shaft tube 431 together, the group of elastic clamping jaws 437 are folded towards the center and cut the lesion tissue by the corresponding blade 438, the rear end of the impurity discharging tube 435 is mounted with the negative pressure pump, and the negative pressure pump is started to enable the lesion tissue to be adsorbed into the impurity discharging tube 435 and discharged out of the body.
When the operation is performed, the liquid inlet nozzle 413 is aligned to the position of the liquid to be pumped, the liquid pump 49 is started, and the intracranial liquid is sucked into the liquid inlet nozzle 413, the liquid pump 44, the first flow sensor 411 and the liquid pump 49 in sequence by the liquid pump 49 and then discharged out of the body.
When the intracranial irrigation is needed, the rear end of the liquid inlet pipe 45 is connected with the irrigation liquid, the main spray head 419 is aligned to the position to be irrigated, the pressurizing pump 410 is started, after the main electromagnetic valve 421 is opened, the irrigation liquid is sprayed out from the main spray head 419, and the position where the intracranial is blocked by blood is irrigated away, so that the medical staff can observe the intracranial condition conveniently.
When the cold light lamp 414 or the CCD camera 415 is prevented from being blocked, the CCD camera 415 cannot shoot the intracranial situation clearly, the first electromagnetic valve 416 is opened, flushing fluid sequentially enters the liquid inlet pipe 45, the first electromagnetic valve 416 and the first branch pipe 417 and then is sprayed to the cold light lamp 414 from the first cleaning head 418, the surface of the cold light lamp 414 is prevented from being blocked, the purpose of supplementing light to the CCD camera 415 cannot be achieved, after the second electromagnetic valve 423 is opened, flushing fluid sequentially enters the liquid inlet pipe 45, the second electromagnetic valve 423 and the second branch pipe 422 and then is sprayed to the CCD camera 415 from the second cleaning head 420, the surface of the CCD camera 415 is prevented from being blocked, and the purpose of shooting cannot be achieved.
The invention is intended to cover any alternatives, modifications, equivalents, and variations that fall within the spirit and scope of the invention. In the following description of preferred embodiments of the invention, specific details are set forth in order to provide a thorough understanding of the invention, and the invention will be fully understood to those skilled in the art without such details. In other instances, well-known methods, procedures, flows, components, circuits, and the like have not been described in detail so as not to unnecessarily obscure aspects of the present invention.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.