基于模块化理念的便携式立体定向仪

Portable stereospecofic apparatus based on modular concept

为了欠发达地区能够进行微创脑外科立体定向手术,根据机器人原理,设计出一种方便携带外出进行异地医疗救护的立体定向仪。开展了机器人结构类型的分析,建立了结构和整机性能之间的关系,提出了基于液压锁紧、关节结构的整体设计方案;采用模块化的理念,分别对立体定向仪的装夹底座、关节结构、导向器、外部注油系统和制动锁紧系统等进行了设计,得到了在工作空间内灵活运动且可在任意位置固定的立体定向仪;采用便捷的标定方法对立体定向仪进行调试,最终得到了定位精度小于2 mm的仪器,并成功应用于脑外科临床手术。从理论上对其进行了性能分析,并进行了相关的实验验证和临床应用。研究结果表明:该便携式立体定向仪具备运动灵活、锁紧可靠的性能和小于2 mm的定位精度,达到了临床应用的要求,具有较高的实际应用价值。

Aiming at the less developed areas to be provided for the minimally invasive stereotactic brain surgery, a kind of stereotactic in- strument which was convenient to be carried out for long-distance medical aid was designed according to the principle of the robot. Structure types of robot were analysised, the relationship between the structure and the whole machine performance was established, and the overall de- sign scheme based on the hydraulic locking, joint structure was presented. The clamping base, joint structure, guide, external injection sys- tem and brake locking system of the stereotactic apparatus were respectively designed with the modular concept, and the stereotactic instru- ment which was in agile movement and could be fixed in any position in the work space was obtained. The convenient calibration was used for debugging, and the final positioning accuracy was less than 2 mm, and the stereotactic instrument was used for brain clinical surgery success- fully. The performance was analyzed theoretically, and the relevant experiments and clinical applications were done, the results indicate that the stereotactic instrument has flexible movement, reliable locking performance and the positioning precision is less than 2 mm, which has reached the requirement of clinical application, and has the high use value.