CN116370810B - Remote control particle implantation device - Google Patents
Remote control particle implantation device Download PDFInfo
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- CN116370810B CN116370810B CN202310661571.9A CN202310661571A CN116370810B CN 116370810 B CN116370810 B CN 116370810B CN 202310661571 A CN202310661571 A CN 202310661571A CN 116370810 B CN116370810 B CN 116370810B
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- 239000002245 particle Substances 0.000 title claims abstract description 207
- 238000002513 implantation Methods 0.000 title claims abstract description 34
- 238000002347 injection Methods 0.000 claims abstract description 43
- 239000007924 injection Substances 0.000 claims abstract description 43
- 238000004891 communication Methods 0.000 claims abstract description 6
- 230000007246 mechanism Effects 0.000 claims description 66
- 230000033001 locomotion Effects 0.000 claims description 27
- 238000005452 bending Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 5
- 238000013459 approach Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 4
- 230000036541 health Effects 0.000 abstract description 3
- 230000005855 radiation Effects 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- ZCYVEMRRCGMTRW-YPZZEJLDSA-N iodine-125 Chemical compound [125I] ZCYVEMRRCGMTRW-YPZZEJLDSA-N 0.000 description 2
- 229940044173 iodine-125 Drugs 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
- A61N2005/1011—Apparatus for permanent insertion of sources
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N2005/1019—Sources therefor
- A61N2005/1024—Seeds
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
The application belongs to the technical field of medical instruments, and discloses a remote control particle implantation device which comprises an execution end and a remote control end, wherein the execution end is in remote communication connection with the remote control end. According to the application, the particles are injected into the human body of the patient along the pipeline inside the puncture needle by remotely controlling the particle injection device, so that particle radiation is avoided, the safety and accuracy of the operation are improved, and the health of medical staff is ensured.
Description
Technical Field
The application belongs to the technical field of medical instruments, and particularly relates to a remote control particle implantation device.
Background
At present, a plurality of needle tracks are required for implantation of tumor interventional therapy particles, navigation planning software is generally adopted to carry out multi-needle-arrangement planning, and a plurality of particles can be injected into each channel, so that the particles can uniformly cover a focus, the particles generally use iodine-125 particles, and the iodine-125 particles release gamma rays to influence the focus. After the wiring planning is completed, the puncture needle is implanted into the human body according to the planning by adopting a needle guide plate or a navigation device, and then radioactive particles are injected into the human body by an injection device. The traditional practice is to inject particles into the focus position of a patient along the internal pipeline of the puncture needle by hands of a doctor through a particle gun, and the practice has two defects: firstly, the number is large, the positions are large in the particle injection process, and the stability and the accuracy of the operation of doctors by hands are low; second, because of the large number of implanted particles, the physician needs to be in the radiation range for a long time. Even with lead garment protection, multiple procedures may be performed with a potential for harm to the health of the physician.
Disclosure of Invention
The present application is directed to a remote control particle implantation apparatus, which solves the above-mentioned problems.
In order to solve the technical problems, the specific technical scheme of the remote control particle implantation device is as follows:
the remote control particle implantation device comprises an execution end and a remote control end, wherein the execution end is in remote communication connection with the remote control end, the remote control end is characterized by comprising a particle implantation device, a three-dimensional force sensor and three image collectors, the three-dimensional force sensor and the three image collectors are respectively and fixedly connected to the particle implantation device, the three-dimensional force sensor is used for acquiring force feedback information of the particle implantation device in a moving process in real time, the three image collectors are used for acquiring pose information of the particle implantation device in real time, and the remote control end remotely controls the particle implantation device to clamp a puncture needle and inject particles into the puncture needle according to the pose information and the force feedback information fed back by the execution end.
Further, the particle injection device comprises a particle gun, a particle gun fixing mechanism, a particle pusher, a sliding rod and a sliding mechanism, wherein the sliding rod is fixedly connected to the front end of the mechanical arm, the particle gun fixing mechanism is fixedly connected to the lower end of the sliding rod, the particle gun is fixedly connected to the particle gun fixing mechanism, a particle output port of the particle gun is vertically downward, the particle pusher is slidably connected to the sliding rod and is connected with the particle gun below, and the sliding mechanism controls the particle pusher to slide downwards along the sliding rod so as to inject particles into the particle gun.
Further, the sliding mechanism is a screw rod transmission mechanism, the screw rod transmission mechanism comprises a sliding rail, a sliding motor, a screw rod and a sliding block, the sliding rail is provided with a sliding rail in the vertical direction, the sliding motor is arranged above the sliding rail, an output shaft of the sliding motor is connected with the screw rod, the sliding block is in threaded connection with the screw rod, the particle pusher is fixed in a clamping groove, the clamping groove is fixedly connected on the sliding block, the sliding motor rotates to drive the screw rod to rotate, so that the sliding block is driven to move up and down, the particle pusher is driven to move down to inject particles into the particle gun, and the particle pusher moves upwards to return to the original position.
Further, the particle injection device comprises a clamping mechanism, the clamping mechanism is arranged below the particle gun fixing mechanism, the clamping mechanism comprises a clamping motor and a clamping device, the clamping motor is fixedly connected to the rear of the lower end of the sliding rod, and the clamping motor drives the clamping device to clamp or loosen the puncture needle.
Further, the holder includes two clamping arms that can mutually clamp, the clamping motor includes two output, two clamping arms respectively with clamping motor's two output fixed connection, the clamping arm has extension section and section of buckling, extension section one end and clamping motor's output fixed connection, the other end level extends to particle gun one side, is connected with section of buckling one end, the section of buckling vertical direction is buckling downwards, thereby terminal formation clamping channel, clamping motor is close to and separately to realize the opening and shutting of clamping channel through the control output, fixture is used for centre gripping pjncture needle afterbody opening.
Further, the three-dimensional force sensor is fixedly connected to the back of the sliding rod, and the three-dimensional force sensor is used for detecting the stress of the particle pusher in the positive and negative directions of the three axes XYZ, so that the pushing force of the particle pusher is fed back to the remote control end, and the remote control end converts the pushing force fed back by the three-dimensional force sensor into the rotation moment of the force feedback motor in the direction corresponding to the remote control end.
Further, the three-image collector comprises a first camera, a second camera and a third camera, wherein the first camera, the second camera and the third camera are respectively arranged in the three-dimensional direction of the particle output port and used for detecting the position of the particle output port.
Further, the executing end further comprises a mechanical arm system, the mechanical arm system comprises a mechanical arm, the particle injection device is fixedly connected to the front end of the mechanical arm system 1 through a three-dimensional force sensor, the mechanical arm system drives the mechanical arm to move to the arranged puncture needle position, and the remote control end remotely controls the mechanical arm of the executing end to move.
Further, the mechanical arm system comprises a sliding table, 3 degrees of freedom are arranged on the sliding table and used for moving the mechanical arm to the vicinity of the puncture needle, the mechanical arm comprises a plurality of joints with degrees of freedom which are connected in series, the movement for realizing multi-azimuth angle is realized, the aim of aligning a particle output port with the tail of the puncture needle is taken charge of, the remote control end comprises a display terminal, a main control board and a main manipulator, the display terminal, the main manipulator and the main control board are electrically connected, the main manipulator adopts the mechanical arm with multiple degrees of freedom which are connected in series, the main manipulator is provided with joints with degrees of freedom which are in one-to-one correspondence with the mechanical arm of the execution end, each degree of freedom of the main manipulator comprises a force feedback system and a position detection system, the force feedback system comprises a force feedback motor and a flexible force reduction mechanism, the force required by each degree of freedom is realized by the force feedback system, and the force required for realizing the fine control of a slave structure and the feedback of force information acquired from the structure are realized; the main control board is used for acquiring positioning data and force feedback data of an executing end, converting the positioning data and the force feedback data into relative positions and force feedback corresponding to a main operator through an algorithm, converting the operation corresponding to the main operator into the operation corresponding to the executing end, and the display terminal is used for displaying the positions of particle output ports acquired by the three-image acquisition device in real time.
Further, the mechanical arm comprises at least 4 degrees of freedom joints, wherein the 4 degrees of freedom joints are a position front-back rotation degree of freedom A1, a position horizontal rotation degree of freedom A2, a posture front-back rotation degree of freedom A3 and a posture left-right rotation degree of freedom A4 respectively, the particle injection device comprises 2 degrees of freedom, namely a clamping mechanism degree of freedom A5 and an up-down push-pull degree of freedom A6 respectively, and the main manipulator comprises a position front-back rotation degree of freedom B1, a position horizontal rotation degree of freedom B2, a posture front-back rotation degree of freedom B3, a posture left-right rotation degree of freedom B4, a clamping mechanism degree of freedom B5 and an up-down push-pull degree of freedom B6 respectively; the position front-back rotation freedom degree B1 is used for controlling the position front-back rotation freedom degree A1 of the execution end to move so as to realize the position front-back movement of the front-end particle injection device; the position horizontal rotation freedom degree B2 is used for controlling the position horizontal rotation freedom degree A2 of the execution end to move so as to realize the position horizontal movement of the front-end particle injection device; the gesture forward and backward rotation degree of freedom B3 is used for controlling the gesture forward and backward rotation degree of freedom A3 of the execution end to move so as to realize gesture forward and backward movement of the front-end particle injection device; the gesture left-right rotation freedom degree B4 is used for controlling gesture left-right rotation freedom degree A4 of the execution end to move so as to realize gesture left-right movement of the front-end particle injection device; the degree of freedom B5 of the clamping mechanism is a knob, and is used for controlling the output end of the clamping motor of the particle injection device at the execution end to approach or depart through rotation so as to realize the opening and closing of the clamping mechanism; the up-down push-pull degree of freedom B6 is used for controlling the movement of a sliding motor of the particle pusher at the execution end, so that the particle pushing and resetting of the particle pusher are realized.
The remote control particle implantation device of the application has the following advantages: the particle injection device is provided with an execution end and a remote control end, and the mechanical arm of the execution end is remotely controlled outside an operating room through the remote control end, and particles are injected into a patient along an inner pipeline of a puncture needle by the particle injection device. The execution end is provided with a three-dimensional force sensor and a three-image collector, the stress condition of the execution end, the actual position of the particle output port and the position of the particle pushing rod can be fed back in real time, the main manipulator of the remote control end is provided with degrees of freedom corresponding to the mechanical arms of the execution end one by one, the multi-angle separate control is realized, each degree of freedom is provided with a force feedback motor, the data of the three-dimensional force sensor are converted into the motion of the force feedback motor through an algorithm, and the tactile feedback is realized, so that the movement, clamping and particle injection operation of the mechanical arms of the execution end are realized by the accurate control equipment. According to the application, the particles are injected into the human body of the patient along the pipeline inside the puncture needle by remotely controlling the particle injection device, so that particle radiation is avoided, the safety and accuracy of the operation are improved, and the health of medical staff is ensured.
Drawings
FIG. 1a is a block diagram of an embodiment of a remote control particle implantation apparatus according to the present application;
FIG. 1b is a block diagram of a remote control end of a remote control particle implantation apparatus according to the present application;
FIG. 2 is a schematic diagram of an execution end structure of the present application;
FIG. 3 is a schematic view of a particle implantation apparatus according to the present application;
FIG. 4 is a schematic view of a clamping mechanism according to the present application;
FIG. 5 is a schematic view of a three-image-capturing device according to the present application;
FIG. 6a is a schematic view of an embodiment of the present application;
FIG. 6b is a schematic view of the primary manipulator degree of freedom structure of the present application;
the figure indicates: 1. a robotic arm system; 11. a mechanical arm; 12. a sliding table; 121. an upper slide bar and a lower slide bar; 122. front and rear slide bars; 123. a chute; 2. a particle injection device; 21. a particle gun; 211. A particle delivery outlet; 22. a particle gun fixing mechanism; 221. installing a screw cap; 23. a particle pusher; 231. a clamping groove; 24. a slide bar; 251. a slide rail; 252. a slide motor; 253. a screw rod; 254. a slide block; 25. a sliding mechanism; 26. a clamping mechanism; 261. clamping the motor; 2611. an output end; 262. a holder; 2621. a clamping arm; 26211. an extension section; 26212. bending sections; 2622. a clamping channel; 3. a three-dimensional force sensor; 4. three image collectors; 41. a first camera; 42. a second camera; 43. a third camera; 5. a main operator; 6. and displaying the terminal.
Detailed Description
For a better understanding of the objects, structures and functions of the present application, the remote control particle implantation apparatus of the present application will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1a and 1b, the remote control particle implantation device of the present application includes an execution end and a remote control end, where the execution end and the remote control end are remotely connected by an Ethercat protocol.
As shown in fig. 2, the execution end comprises a mechanical arm system 1, a particle injection device 2, a three-dimensional force sensor 3 and a three-image collector 4, wherein the particle injection device 2 is fixedly connected to the three-dimensional force sensor 3, the three-dimensional force sensor 3 is fixed at the front end of a mechanical arm 11 of the mechanical arm system 1, and the mechanical arm system 1 drives the three-dimensional force sensor 3 to move to the arranged puncture needle position. As shown in fig. 3, the particle injection device 2 includes a particle gun 21, a particle gun fixing mechanism 22, a particle pusher 23, a slide bar 24, a sliding mechanism 25 and a clamping mechanism 26, the slide bar 24 is fixedly connected to the three-image collector 4, the particle gun fixing mechanism 22 is fixedly connected to the lower end of the slide bar 24, the particle gun fixing mechanism 22 is provided with a mounting nut 221, the particle gun 21 is fixedly connected to the particle gun fixing mechanism 22 through the mounting nut 221, and the mounting nut 221 is a manual knob type, so that quick assembly and disassembly can be realized. The particle outlet 211 of the particle gun 21 is vertically downward, and the particle pusher 23 is slidably connected to the slide bar 24 and connected to the particle gun 21 below, and the particle pusher 24 is controlled by the slide mechanism 25 to slide downward along the slide bar 24 to inject particles into the particle gun 21. The sliding mechanism 25 may adopt any existing structure capable of driving the particle pusher 23 to move vertically, in this embodiment, the sliding mechanism 25 is a screw rod transmission mechanism, the screw rod transmission mechanism includes a sliding rail 251, a sliding motor 252, a screw rod 253 and a sliding block 254, specifically, the sliding rail 24 has a sliding rail 251 in a vertical direction, the sliding motor 252 is disposed above the sliding rail 251, an output shaft of the sliding motor 252 is connected with the screw rod 253, the sliding block 254 is in threaded connection with the screw rod 253, the particle pusher 23 is fixed in the clamping groove 231, the clamping groove 231 is fixedly connected with the sliding block 254, the sliding motor 252 rotates to drive the screw rod 253 to rotate, so as to drive the sliding block 254 to move up and down along the sliding rail 251, so as to drive the particle pusher 23 to move down to inject particles into the particle gun 21, and move up to the original position. The clamping mechanism 26 is arranged below the particle gun fixing mechanism 22, the clamping mechanism 26 comprises a clamping motor 261 and a clamp holder 262, the clamping motor 261 is fixedly connected behind the lower end of the sliding rod 24, as shown in fig. 4, the clamping motor 261 is provided with two output ends 2611, the two output ends 2611 are connected through a positive and negative tooth screw rod, and the clamping motor 261 drives the two output ends to complete actions of approaching and moving away from each other. The gripper 262 includes two gripping arms 2621 capable of gripping each other, and the two gripping arms 2621 are fixedly connected to the two output ends 2611 of the gripping motor 261, respectively, and follow the movement of the two output ends 2611 to perform gripping and opening actions. The clamping arm 2621 has an extension section 26211 and a bending section 26212, one end of the extension section 26211 is fixedly connected with the output end 2611 of the clamping motor 261, the other end of the extension section horizontally extends to one side of the particle gun 21, is connected with one end of the bending section 26212, the bending section 26212 is bent downwards in a vertical direction, and a clamping channel 2622 is formed at the tail end of the bending section 26212. The clamping motor 261 controls the output end 2611 to approach and separate so as to realize the opening and closing of the clamping channel 2622. The two-section bending design of the clamping arm 2621 can enable the clamping arm 2621 to clamp the tail of the puncture needle from the vertical direction, and the tail of the puncture needle does not interfere with other puncture needles in the horizontal direction, so that the accuracy of the operation is ensured. When the particle output port 211 of the particle injection device 2 is aligned with the tail opening of the puncture needle, the remote control end controls the clamping mechanism 26 to clamp the tail opening of the puncture needle for particle injection, so that the input stability is ensured. The mechanical arm system 1, the sliding motor 252 and the clamping motor 261 are all in communication connection with a remote control end, and work is controlled by the remote control end.
The three-dimensional force sensor 3 is fixedly connected to the back of the slide bar 24, the three-dimensional force sensor 3 is used for detecting the force of the particle pusher 23 in the positive and negative directions of the three axes XYZ, so that the pushing force of the particle pusher 23 is fed back to the remote control end, the remote control end converts the pushing force fed back by the three-dimensional force sensor 3 into the rotating moment of the force feedback motor in the direction corresponding to the remote control end, an operator can feel the force feedback of the execution end, the tactile feedback is realized, and the particle injection operation is realized by the accurate control equipment.
As shown in fig. 5, the three-image collector 4 includes a first camera 41, a second camera 42, and a third camera 43, where the first camera 41, the second camera 42, and the third camera 43 are respectively disposed in three dimensions of the particle output port 211, and are configured to detect a position of the particle output port 211, and feed back position information of the particle output port 211 to the remote control end in real time. Specifically, the first camera 41 is disposed below the particle gun fixing mechanism 22 and faces one side of the particle output port 211, the second camera 42 is disposed on one side of the particle gun fixing mechanism 22 and faces the other side of the particle output port 211, and the third camera 43 is disposed at the upper end of the slide bar 24. The three-image collector 4 is in communication connection with the remote control end, and feeds back the accurate position of the particle output port 211 in real time. The remote monitoring camera is also arranged in the operating room, and preferably, the application adopts a set of remote video conference system, the positions of the whole mechanical arm system 1 and the particle output port 211 are acquired through the remote monitoring camera and the three-image acquisition device 4, and a remote control end operator can remotely observe the operation conditions of the mechanical arm 11 and the particle injection device 2 through the remote video conference system of the display terminal 6. The display terminal 6 has 4 windows, and the graphics collected by the remote monitoring camera and the three cameras of the three image collectors 4 are correspondingly displayed respectively.
As shown in fig. 2, the manipulator system 1 of the execution end includes a sliding table 12 and a manipulator 11 with multiple degrees of freedom connected in series, for realizing movement at multiple angles. The sliding table 12 is provided with an upper sliding rod 121, a lower sliding rod 121 and a front sliding rod 122, one end of the front sliding rod 122 is vertically fixed at the upper ends of the upper sliding rod 121 and the lower sliding rod 122, the other end of the front sliding rod 122 is fixedly connected with the mechanical arm 11, the upper sliding rod 121 and the lower sliding rod 121 can move up and down and left and right along a sliding groove 123 on the sliding table 12, and the front sliding rod 122 and the rear sliding rod 122 can stretch back and forth, so that 3 degrees of freedom of movement of the mechanical arm 11 are realized, and the mechanical arm 11 is used for being moved to the vicinity of a puncture needle. The mechanical arm 11 includes at least 4 degrees of freedom joints connected in series for realizing 4 degrees of freedom movements of the particle injection device 2, and is responsible for aligning the particle output port 211 with the tail opening of the puncture needle, as shown in fig. 6a, the 4 degrees of freedom joints of the mechanical arm 11 are a position front-back rotation degree of freedom A1, a position horizontal rotation degree of freedom A2, a gesture front-back rotation degree of freedom A3, a gesture left-right rotation degree of freedom A4, the particle injection device 2 includes 2 degrees of freedom, which are a clamping mechanism degree of freedom A5 and an up-down push-pull degree of freedom A6, respectively, the clamping mechanism degree of freedom A5 includes a clamping motor 261, and the up-down push-pull degree of freedom A6 includes a sliding motor 252.
The remote control end comprises a display terminal 6, a main control board and a main manipulator 5, wherein the display terminal 6, the main manipulator 5 and the main control board are electrically connected, as shown in fig. 6B, the main manipulator 5 adopts a manipulator with multiple degrees of freedom connected in series, and the main manipulator 5 has a degree of freedom joint corresponding to a manipulator 11 and a particle injection device 2 of an execution end and comprises a position front-back rotation degree of freedom B1, a position horizontal rotation degree of freedom B2, a gesture front-back rotation degree of freedom B3, a gesture left-right rotation degree of freedom B4, a clamping mechanism degree of freedom B5 and an up-down push-pull degree of freedom B6. The degrees of freedom of the main manipulator 5 are converted into the movements of the degrees of freedom of the corresponding manipulator 11 at the execution end through the algorithm of the main control board, and the movement control of the manipulator 11 at the execution end is realized. Specifically, the position front-back rotation degree of freedom B1 is used for controlling the position front-back rotation degree of freedom A1 of the execution end to move, so as to realize the position front-back movement of the front-end particle injection device 2; the position horizontal rotation degree of freedom B2 is used for controlling the position horizontal rotation degree of freedom A2 of the execution end to move so as to realize the position horizontal movement of the front-end particle injection device 2; the gesture front-back rotation freedom degree B3 is used for controlling the gesture front-back rotation freedom degree A3 of the execution end to move so as to realize gesture front-back movement of the front-end particle injection device 2; the gesture left-right rotation degree of freedom B4 is used for controlling gesture left-right rotation degree of freedom A4 movement of the execution end, so that gesture left-right movement of the front-end particle injection device 2 is realized; the degree of freedom B5 of the clamping mechanism is a knob, and is used for driving the clamping mechanism 26 to open and close by rotating the clamping motor 261 of the particle injection device 2 at the execution end in the forward direction or the reverse direction; the up-and-down push-pull degree of freedom B6 is used for controlling the movement of the slide motor 252 of the particle pusher 23 at the execution end, so as to realize the particle pushing and resetting of the particle pusher 23.
The main manipulator 5 comprises a force feedback system and a position detection system in each degree of freedom, wherein the force feedback system comprises a force feedback motor and a flexible force reduction mechanism, the position detection system comprises a magnetic encoder, and the force required for gravity force balance and whole force feedback of each degree of freedom is realized by the force feedback system, and the force feedback system is mainly used for realizing fine control of a slave structure and realizing feedback of force information acquired from the slave structure. The main control board calculates the position corresponding to each degree of freedom at present through the angle information and the rotation information fed back by the magnetic encoder and the force feedback motor through an algorithm, can monitor the running states of the force feedback motor and the magnetic encoder in real time, reads the deflection angle of the magnetic encoder, monitors whether the force feedback motor reaches a preset position according to instructions, if the situation that the running gap is overlarge and the force feedback motor generates huge abrupt change movement is found, real-time braking is carried out in hardware, and the safety of doctors and patients is guaranteed. The main control board can be integrated in the main manipulator device, and can be connected with the execution end in a communication way through external connection, the main control board is used for collecting positioning data and force feedback data of the execution end, converting the positioning data and the force feedback data into corresponding relative positions and force feedback of the main manipulator 5 through an algorithm, converting corresponding operations of the main manipulator 5 into corresponding operations of the execution end, including operations of moving, clamping, injecting and the like. The display terminal 6 is used for displaying the position of the particle output port 211 acquired by the three-image acquisition device and the whole image in the operating room acquired by the remote monitoring camera in real time.
The main manipulator 5 adopts a serial structure, so that a doctor has more free activity space during operation, the operation fatigue is reduced, the design of an integral structure and the model establishment of a robot force feedback algorithm are easy, meanwhile, the force feedback of the wrist part is provided for the doctor by utilizing a mechanical structure and a force feedback motor, and more real and vivid experience is realized for the particle injection process. The force feedback part is realized by a force feedback motor and a flexible force reduction device, which can obviously reduce the moment of inertia and ensure the accuracy of transmission. The rotating shafts of the horizontal rotation degrees of freedom are required to be converged at one point in space from left to right and from front to back, and the design can enable doctors to feel more comfortable when performing wrist rotation operation, reduce mechanical algorithm difficulty in mechanical calculation and achieve better force feedback effect. The knob is arranged on the operating handle, and the clamping mechanism can be remotely controlled to clamp the puncture needle by rotating the knob, so that a more stable injection environment is ensured. The operation handle is provided with the enabling button at the same time, so that the whole system can be operated only by pressing the enabling button, and the safety of the whole system is ensured.
In use, a doctor firstly places the execution end near a patient, loads particles into the particle gun, then fixes the particle gun on the whole structure through a sliding rail on a particle gun fixing mechanism, then controls the upper and lower sliding rods 121 and the front and rear sliding rods 122 of the sliding table 12 to move through a control console of the mechanical arm system 1, and moves the particle injection device 2 at the front end of the mechanical arm near a puncture needle on a focus. After that, the doctor leaves the operating room and enters the remote control room, the doctor obtains the position information of the particle outlet 211 in real time through the three image collectors 4, and the doctor clamps the first puncture needle through the position front-back rotation freedom B1, the position horizontal rotation freedom B2, the gesture front-back rotation freedom B3 and the gesture left-right rotation freedom B4 of the main manipulator 5 at the remote control end to control the position front-back rotation freedom A1, the position horizontal rotation freedom A2, the gesture front-back rotation freedom A3 and the gesture left-right rotation freedom A4 of the manipulator 11 at the execution end to move, so that the particle injection port 211 is aligned to the first puncture needle port, then the knob on the clamping mechanism freedom B5 is turned, the clamping mechanism 26 at the execution end clamps the first puncture needle, and then the clamping motor 261 at the up-down push-pull freedom B6 is pulled to control the execution end to drive the particle pusher 23 to move downwards to inject particles. After the first particle is injected, controlling the up-and-down push-and-pull degree of freedom B6 to enable the sliding motor 252 to move upwards to lift the particle pusher 23 so that the second particle is pressed into the particle gun 21, then controlling the whole particle injection device 2 to drive the puncture needle upwards to move a particle spacing distance, and then controlling the up-and-down push-and-pull degree of freedom B6 to enable the sliding motor 252 to move downwards to drive the particle pusher 23 to push the second particle; after all the particles of the first puncture needle are injected, the first puncture needle is completely pulled out from the human body, and the control mechanical arm 11 is released to the nearby puncture needle tray, and then other puncture needle particles are injected.
It will be understood that the application has been described in terms of several embodiments, and that various changes and equivalents may be made to these features and embodiments by those skilled in the art without departing from the spirit and scope of the application. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the application without departing from the essential scope thereof. Therefore, it is intended that the application not be limited to the particular embodiment disclosed, but that the application will include all embodiments falling within the scope of the appended claims.
Claims (7)
1. The remote control particle implantation device comprises an execution end and a remote control end, wherein the execution end is in remote communication connection with the remote control end, the remote control end comprises a particle implantation device (2), a three-dimensional force sensor (3) and three image collectors (4), the three-dimensional force sensor (3) and the three image collectors (4) are respectively and fixedly connected to the particle implantation device (2), the three-dimensional force sensor (3) is used for acquiring force feedback information of the particle implantation device (2) in a moving process in real time, the three image collectors (4) are used for acquiring pose information of the particle implantation device (2) in real time, the remote control end remotely controls the particle implantation device (2) to clamp a puncture needle and inject particles into the puncture needle according to the pose information and the force feedback information fed back by the execution end, the particle implantation device (2) comprises a clamping mechanism (26), the clamping mechanism (26) comprises a clamping motor (261) and a clamp (262), the clamp motor (262) drives the clamp or unclamp, the clamp (262) comprises two clamping arms (2621) which can clamp the two clamping motors (2621) mutually, the two clamping arms (2621) are respectively connected with the two clamping arms (2621) and the two clamping ends (2611) to the two clamping ends (2611) which are respectively and fixedly connected with the two ends (2611), the clamping arm (2621) is provided with an extension section (26211) and a bending section (26212), one end of the extension section (26211) is fixedly connected with the output end (2611) of the clamping motor (261), the other end of the extension section is connected with one end of the bending section (26212), the bending section (26112) is bent downwards in the vertical direction, the tail end of the bending section forms a clamping channel (2622), the clamping motor (261) is controlled to approach and separate through the control output end (2611) so as to realize opening and closing of the clamping channel (2622), and the clamping mechanism (26) is used for clamping the tail opening of the puncture needle; the execution end further comprises a mechanical arm system (1), the mechanical arm system (1) comprises a mechanical arm (11), the particle injection device (2) is fixedly connected to the front end of the mechanical arm (11) of the mechanical arm system (1) through a three-dimensional force sensor (3), the mechanical arm system drives the mechanical arm to move to the arranged puncture needle position, and the remote control end remotely controls the mechanical arm (11) of the execution end to move; the mechanical arm system (1) comprises a sliding table (12), 3 degrees of freedom are arranged on the sliding table (12) and used for moving the mechanical arm (11) to the vicinity of a puncture needle, the mechanical arm (11) comprises a plurality of joints with degrees of freedom which are connected in series, movement for realizing multi-azimuth angle is realized, a particle output port (211) is aligned to the tail of the puncture needle, the remote control end comprises a display terminal (6), a main control board and a main manipulator (5), the display terminal (6), the main manipulator (5) are electrically connected with the main control board, the main manipulator (5) adopts the mechanical arms with multiple degrees of freedom which are connected in series, the main manipulator (5) is provided with joints with degrees of freedom which are in one-to-one correspondence with the mechanical arm (11) at the execution end, each degree of freedom of the main manipulator (5) comprises a force feedback system and a position detection system, the force feedback system comprises a force feedback motor and a flexible force reduction mechanism, the force required by each degree of freedom is realized by the force feedback system, and the force required by each degree of freedom is realized by the force feedback system, so that fine control of a slave structure and the fine structure of force feedback information is realized; the main control board calculates the position corresponding to each degree of freedom at present through the angle information and the rotation information fed back by the magnetic encoder and the force feedback motor through an algorithm, can monitor the running states of the force feedback motor and the magnetic encoder in real time, reads the deflection angle of the magnetic encoder, monitors whether the force feedback motor reaches a preset position according to an instruction, is used for acquiring positioning data and force feedback data of an executing end, converts the positioning data and the force feedback data into the relative position and the force feedback corresponding to the main operator (5) through the algorithm, converts the operation corresponding to the main operator (5) into the operation corresponding to the executing end, and the display terminal (6) is used for displaying the position of a particle output port (211) acquired by the three-image acquisition device (4) in real time.
2. The remote control particle implantation apparatus according to claim 1, wherein the particle implantation apparatus (2) comprises a particle gun (21), a particle gun fixing mechanism (22), a particle pusher (23), a slide bar (24) and a sliding mechanism (25), the slide bar (24) is fixedly connected to the front end of the mechanical arm (11), the particle gun fixing mechanism (22) is fixedly connected to the lower end of the slide bar (24), the particle gun (21) is fixedly connected to the particle gun fixing mechanism (22), a particle output port (211) of the particle gun (21) is vertically downward, the particle pusher (23) is slidingly connected to the slide bar (24) and is connected to the particle gun (21) below, and the sliding mechanism (25) controls the particle pusher (23) to slide downward along the slide bar (24) so as to inject particles into the particle gun (21).
3. The remote control particle implantation device according to claim 2, wherein the sliding mechanism (25) is a screw rod transmission mechanism, the screw rod transmission mechanism comprises a sliding rail (251), a sliding motor (252), a screw rod (253) and a sliding block (254), the sliding rail (24) is provided with the sliding rail (251) in the vertical direction, the sliding motor (252) is arranged above the sliding rail (251), an output shaft of the sliding motor (252) is connected with the screw rod (253), the sliding block (254) is in threaded connection with the screw rod (253), the particle pusher (23) is fixed in a clamping groove (231), the clamping groove (231) is fixedly connected to the sliding block (254), and the sliding motor (252) rotates to drive the screw rod (253) to rotate, so that the sliding block (254) is driven to move up and down, and the particle pusher (23) is driven to move down to inject particles into the particle gun (21) to return to the original position.
4. A remote controlled particle implantation device according to claim 3, wherein the clamping mechanism (26) is arranged below the particle gun fixing mechanism (22), and the clamping motor (261) is fixedly connected behind the lower end of the slide bar (24).
5. The remote control particle implantation apparatus according to claim 2, wherein the three-dimensional force sensor (3) is fixedly connected to the back of the slide bar (24), and the three-dimensional force sensor (3) is used for detecting the force of the particle pusher (23) in positive and negative directions of three axes XYZ, so as to feed back the pushing force of the particle pusher (23) to the remote control end, and the remote control end converts the pushing force fed back by the three-dimensional force sensor (3) into the rotation moment of the force feedback motor in the direction corresponding to the remote control end.
6. The remote control particle implantation apparatus according to claim 2, wherein the three-image collector (4) comprises a first camera (41), a second camera (42) and a third camera (43), and the first camera (41), the second camera (42) and the third camera (43) are respectively arranged in the three-dimensional direction of the particle output port (211) for detecting the position of the particle output port (211).
7. The remote control particle implantation apparatus according to claim 4, wherein the robot arm (11) comprises at least 4 degrees of freedom joints, the 4 degrees of freedom joints being a position back and forth rotational degree of freedom A1, a position horizontal rotational degree of freedom A2, a posture back and forth rotational degree of freedom A3, a posture left and right rotational degree of freedom A4, respectively, the particle implantation apparatus (2) comprises 2 degrees of freedom, a clamping mechanism degree of freedom A5 and an up and down push-pull degree of freedom A6, respectively, the main manipulator (5) comprises a position back and forth rotational degree of freedom B1, a position horizontal rotational degree of freedom B2, a posture back and forth rotational degree of freedom B3, a posture left and right rotational degree of freedom B4, a clamping mechanism degree of freedom B5 and an up and down push-pull degree of freedom B6; the position front-back rotation freedom degree B1 is used for controlling the position front-back rotation freedom degree A1 of the execution end to move so as to realize the position front-back movement of the front-end particle injection device (2); the position horizontal rotation freedom degree B2 is used for controlling the position horizontal rotation freedom degree A2 of the execution end to move so as to realize the position horizontal movement of the front-end particle injection device (2); the gesture forward and backward rotation freedom degree B3 is used for controlling the gesture forward and backward rotation freedom degree A3 of the execution end to move so as to realize gesture forward and backward movement of the front-end particle injection device (2); the gesture left-right rotation freedom degree B4 is used for controlling gesture left-right rotation freedom degree A4 of the execution end to move so as to realize gesture left-right movement of the front-end particle injection device (2); the degree of freedom B5 of the clamping mechanism is a knob, and is used for realizing the opening and closing of the clamping mechanism (26) by rotating and controlling the output end of a clamping motor (261) of the particle injection device (2) at the execution end to approach or depart; the up-and-down push-and-pull degree of freedom B6 is used for controlling the movement of a sliding motor (252) of the particle pusher (23) at the execution end to realize the particle pushing and resetting of the particle pusher (23).
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