CN201959412U - Novel nuclear magnetic compatible operation mechanism for close-range particle radiotherapy - Google Patents
Novel nuclear magnetic compatible operation mechanism for close-range particle radiotherapy Download PDFInfo
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- CN201959412U CN201959412U CN201020684650XU CN201020684650U CN201959412U CN 201959412 U CN201959412 U CN 201959412U CN 201020684650X U CN201020684650X U CN 201020684650XU CN 201020684650 U CN201020684650 U CN 201020684650U CN 201959412 U CN201959412 U CN 201959412U
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Abstract
The utility model discloses a novel nuclear magnetic compatible operation mechanism for close-range particle radiotherapy, which comprises a translating layer, a lifting layer, a needling layer, and a lower-layer platform, a middle-layer platform and an upper-layer platform which are sequentially arranged at intervals from bottom to top, wherein the translating layer comprises two slider oscillating rod mechanisms and two driven slider oscillating rod mechanisms, the two slider oscillating rod mechanisms are arranged between the lower-layer platform and the middle-layer platform, and are arranged in a diagonal position, the two driven slider oscillating rod mechanisms are arranged at another diagonal position, the lifting layer comprises front and back sets of oscillating rod mechanisms which are formed by four slider oscillating rod mechanisms arranged between the middle-layer platform and the upper-layer platform, the upper-layer platform is provided with an ultrasonic wave motor, the output shaft of the ultrasonic wave motor is connected with a screw, a nut is sheathed on the screw, and a needle is connected on the nut. By adopting the structure, the novel nuclear magnetic compatible operation mechanism can assist in completing an acupuncture operation in the limit space of a nuclear magnetic instrument, overcomes the defects that during the operation process, the imaging effect is not timely and the path planning is difficult, and can greatly improve the precision of the operation and the success rate and the perfection of the operation.
Description
Technical field
This utility model relates to medical instruments field, particularly relates to the acupuncture manipulator mechanism that is applied under the magnetic nuclear resonance environment.
Background technology
Current, the main method of operation on prostate is closely corpuscular radiation treatment of Wicresoft.Operation process is implanted prostate by acupuncture with radioactive particle, carries out local radiotherapy.And the acupuncture of usually manually carrying out operation, to face mostly low precision, can't realtime imaging shortcoming; For the track of planning in advance, also may because of patient body move and acupuncture for the stimulation of organ, and can't realize the effect estimated.And the means of or robot arm realization high accuracy acupuncture auxiliary by robot arm can well address these problems.
NMR (Nuclear Magnetic Resonance)-imaging (MRI) is compared with traditional X ray, CT, can avoid x x radiation x to healthy cell, and there are good soft tissue resolving power and precise geometrical to learn characteristic, can lean out lesion region more accurately, to guarantee rational track optimizing, and the judgement to lesion portion is more accurate, to guarantee to implant the particle position precision.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, and a kind of precision that improves the acupuncture operation in limited space is provided, and reduces the compatible operation of the novel nuclear-magnetism mechanism towards closely particle radiotherapy of the misery of patient's operation.
The compatible operation of novel nuclear-magnetism mechanism towards closely particle radiotherapy of the present utility model, it comprises the translation layer, the lifting layer, acupuncture layer and the lower floor's platform that is provided with at interval successively from bottom to up, middle level platform and upper platform, described translation layer comprises and is arranged between lower floor's platform and the middle level platform and becomes two slide block swing-bar mechanisms that diagonal position installs and two driven sliding block swing-bar mechanisms that are installed in another diagonal position each other, described lifting layer is made up of the front and back two cover slide block swing-bar mechanisms that four slide block swing-bar mechanisms that are arranged between middle level platform and the upper platform constitute, on described upper platform, supersonic motor is installed, the output shaft of described supersonic motor links to each other with a leading screw, be with nut on the described leading screw, the both sides of described nut are enclosed within on the connecting axle respectively, described connecting axle links to each other with bearing on being fixed on described upper platform, is connected with pin on described nut.
Outstanding advantage of the present utility model is: can assist in the nuclear magnetic resonance spectrometer confined space and finish the acupuncture operation, overcome the drawback of the untimely and trajectory planning difficulty of imaging effect in the operation process, the very big precision of the raising of degree operation, the successful property and the integrity of operation.
Description of drawings
Fig. 1 is the axonometric chart of the compatible mechanism that performs the operation of the novel nuclear-magnetism towards closely particle radiotherapy of the present utility model;
Fig. 2 is the front view of mechanism shown in Figure 1;
Fig. 3 is the vertical view of mechanism shown in Figure 1.
The specific embodiment
Below in conjunction with specific embodiment, and, this utility model is described further with reference to accompanying drawing:
As shown in drawings towards the compatible mechanism that performs the operation of the novel nuclear-magnetism of closely particle radiotherapy, it comprises the translation layer, the lifting layer, acupuncture layer and the lower floor's platform 8 that is provided with at interval successively from bottom to up, middle level platform 7 and upper platform 12, described translation layer comprises and is arranged between lower floor's platform and the middle level platform and becomes two slide block swing-bar mechanisms that diagonal position installs and two driven sliding block swing-bar mechanisms that are installed in another diagonal position each other, in order to realize translation and the swing in the horizontal plane, described lifting layer is made up of the front and back two cover slide block swing-bar mechanisms that four slide block swing-bar mechanisms that are arranged between middle level platform and the upper platform constitute, in order to be implemented in translation and the swing in the vertical guide, supersonic motor 3 is installed on described upper platform, the output shaft of described supersonic motor links to each other with a leading screw 4, be with nut on the described leading screw, the both sides of described nut are enclosed within on the connecting axle respectively, described connecting axle links to each other with bearing on being fixed on described upper platform, on described nut, be connected with pin 5, in order to realize the acupuncture campaign.Each sliding pendulum linkage comprises line slideway and the slide block that links to each other with slip on the line slideway, slide block links to each other with cylinder and links to each other by articulated structure with an end of fork, and the other end of fork links to each other with the slide block of another linear guide rail structure by articulated structure.
Be accurately this motion of mechanism of control, can all be connected with encoder on the jointed shaft of the articulated structure of on the jointed shaft of protheca slide block swing-bar mechanism and back cover slide block swing-bar mechanism and on the jointed shaft at the articulated structure of a slide block swing-bar mechanism of translation layer.
Below in conjunction with the working method of accompanying drawing to acupuncture manipulator mechanism:
Translational motion: the cylinder plug 9 promotion slide blocks that link to each other with air pump by control move along line slideway 10, and then realize the swing of translation layer fork 11, to reach the swing that makes mechanism's upper platform; The cylinder piston 13 promotion slide blocks that link to each other with air pump by control move along line slideway, realize the swing of the fork 14 of translation layer, to reach the swing of mechanism's upper platform.When two cylinders are synchronized with the movement, can realize moving of lifting layer platform.
The lifting campaign: the cylinder 2 that links to each other with air pump by control makes piston promotion slide block move along line slideway, and then realizes the swing of the fork 6 of lifting layer, is the lifting of axle with the front portion to reach mechanism.In like manner, the cylinder that control links to each other with air pump makes piston promote slide block and moves along guide rail, realizes the swing of lifting layer fork 1, is the swing of axle with the rear portion to reach mechanism.When two cylinders are synchronized with the movement, can realize the lifting of upper platform 12.
Acupuncture campaign: by supersonic motor 3, make leading screw 4 drive operation needles 5 motions, will move and power is passed to needle point, realization acupuncture operation.
The associated movement of translation layer and lifting layer can realize mechanism about, about, tilt, wave the motion of four degree of freedom, thereby realize the adjustment of needle body spatial pose; The acupuncture layer is realized final acupuncture operation by slowly running of supersonic motor.
Claims (1)
1. towards the compatible mechanism that performs the operation of the novel nuclear-magnetism of closely particle radiotherapy, it comprises the translation layer, the lifting layer, acupuncture layer and the lower floor's platform that is provided with at interval successively from bottom to up, middle level platform and upper platform, it is characterized in that: described translation layer comprises and is arranged between lower floor's platform and the middle level platform and becomes two slide block swing-bar mechanisms that diagonal position installs and two driven sliding block swing-bar mechanisms that are installed in another diagonal position each other, described lifting layer is made up of the front and back two cover slide block swing-bar mechanisms that four slide block swing-bar mechanisms that are arranged between middle level platform and the upper platform constitute, on described upper platform, supersonic motor is installed, the output shaft of described supersonic motor links to each other with a leading screw, be with nut on the described leading screw, the both sides of described nut are enclosed within on the connecting axle respectively, described connecting axle links to each other with bearing on being fixed on described upper platform, is connected with pin on described nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020684650XU CN201959412U (en) | 2010-12-28 | 2010-12-28 | Novel nuclear magnetic compatible operation mechanism for close-range particle radiotherapy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020684650XU CN201959412U (en) | 2010-12-28 | 2010-12-28 | Novel nuclear magnetic compatible operation mechanism for close-range particle radiotherapy |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201959412U true CN201959412U (en) | 2011-09-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201020684650XU Expired - Fee Related CN201959412U (en) | 2010-12-28 | 2010-12-28 | Novel nuclear magnetic compatible operation mechanism for close-range particle radiotherapy |
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| CN (1) | CN201959412U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102921099A (en) * | 2012-10-23 | 2013-02-13 | 天津大学 | Short-distance particle implantation robot based on ultrasonic image navigation |
| CN104147689A (en) * | 2014-03-24 | 2014-11-19 | 天津大学 | Mechanism for breast puncture operation under nuclear magnetic image navigation |
| CN104623797A (en) * | 2015-02-16 | 2015-05-20 | 天津大学 | Near-distance image navigation full-automatic radioactive particle implanting device |
-
2010
- 2010-12-28 CN CN201020684650XU patent/CN201959412U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102921099A (en) * | 2012-10-23 | 2013-02-13 | 天津大学 | Short-distance particle implantation robot based on ultrasonic image navigation |
| CN102921099B (en) * | 2012-10-23 | 2014-01-01 | 天津大学 | Short-distance particle implantation robot based on ultrasonic image navigation |
| CN104147689A (en) * | 2014-03-24 | 2014-11-19 | 天津大学 | Mechanism for breast puncture operation under nuclear magnetic image navigation |
| CN104623797A (en) * | 2015-02-16 | 2015-05-20 | 天津大学 | Near-distance image navigation full-automatic radioactive particle implanting device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110907 Termination date: 20111228 |