CN105251111A - Electric particle implantation device for short-distance radioactive therapy - Google Patents
Electric particle implantation device for short-distance radioactive therapy Download PDFInfo
- Publication number
- CN105251111A CN105251111A CN201510778251.7A CN201510778251A CN105251111A CN 105251111 A CN105251111 A CN 105251111A CN 201510778251 A CN201510778251 A CN 201510778251A CN 105251111 A CN105251111 A CN 105251111A
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- pin
- outer pin
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Abstract
During the manual implantation process of radioactive particles, the technical skill of doctors is strictly required. In addition, the implantation workload of the particles is large, the surgical time is long, and the particle implantation precision also can be affected. In order to solve the problem, the invention relates to an electric particle implantation device for short-distance radioactive therapy. The electric particle implantation device comprises a soleplate, an outer needle drive module, an inner needle drive module, an inner needle, an outer needle and a radioactive particle supply module, and is characterized in that the soleplate is fixedly connected with an outer needle drive motor and an inner needle drive motor, an outer needle clamping sleeve is fixedly connected with the outer needle, the inner needle drive module is connected with the inner needle by virtue of a friction pair, the inner needle is a solid needle, the outer needle is a hollow needle, and the inner needle slides in the outer needle. The electric particle implantation device can be used as an end execution mechanism of a mechanical hand to automatically implant particles, the high-precision radioactive particle implantation surgical operation can be realized by adopting image navigation, and the electric particle implantation device also can be used as an electric handheld radioactive therapy particle implantation device and is simple in structure.
Description
Technical field
The present invention relates to medical instruments field, be specifically related to a kind of electronic seeds implanted device for closely radiation treatment.
Background technology
Closely radioactive prospecting instrument is that the treatment of malignant tumor provides a new effective way.Especially
125the application of I particle, the advantages such as good with its therapeutic effect, target area tissue dose is evenly distributed, and normal tissue damage is little are widely applied.At present, extensive use is that in implantation process, doctor adopts manual implantation through ultrasonic, CT, MRI Conducted Puncture implantation.In manual implantation process, strict to Doctors' skill level requirement, surgical quality is unstable.In addition, the workload of seeds implanted is large, and operating time is long, also can have influence on seeds implanted precision.
Summary of the invention
The object of the invention is for the existing issue such as large, the manual implant surgery precision of above-mentioned seeds implanted workload is low, design a kind of electronic seeds implanted device for closely radiation treatment.
The present invention for solving the problems of the technologies described above taked technical scheme is:
The present invention is a kind of electronic seeds implanted device for closely radiation treatment, comprise base plate, outer pin driver module, interior pin driver module, interior pin, outer pin, radioactive particle supplying module, it is characterized in that: the outer pin drive motors in described base plate and outer pin driver module and the interior pin drive motors in interior pin driver module are connected, outer pin gripper sleeve and the outer pin of described outer pin driver module end are connected, pin in described interior pin driver module is connected by friction pair, described interior pin is solid needle, described outer pin is hollow needle, described interior pin is at described outer pin internal slide.
Scheme is designed further: in order to play the effect of outer pin driver module better, described outer pin driver module specifically comprises: outer pin drive motors, outer pin drive motors fixing head, gear, tooth bar, guide finger, guide plate, particle receives bootstrap block, outer pin retaining sleeve, outer pin hold-down screw, described outer pin drive motors is fixed on base plate by outer pin drive motors fixing head, motor output shaft is fixed with gear, gear is the rectilinear motion of tooth bar by rack-and-pinion adjutant motor convert rotational motion, the lower surface of tooth bar is fixed with guide finger, described guide finger slides in the notch of base plate, the other end of tooth bar by pin and guide plate hinged, guide plate is bolted particle and has received bootstrap block, particle receives bootstrap block upper surface and is provided with through hole, through hole is built with holding screw, outer pin retaining sleeve compresses by holding screw, described particle receives the radioactive particle of bootstrap block reception from radioactive particle supplying module, and guide particle to enter outer pin, described outer pin retaining sleeve cavity internal fixtion has outer pin, and clamp under the effect of pin hold-down screw outside.
Scheme is designed further: in order to play the effect of interior pin driver module better, described interior pin driver module specifically comprises: interior pin drive motors, interior pin drive motors fixing head, friction pulley, contact roller, contact roller fixing head, interior pin, limited block, described interior pin drive motors is connected by interior pin drive motors fixing head and base plate, motor output shaft and friction pulley are connected, driven by motor friction pulley rotates, in addition, described contact roller to be connected with base plate by contact roller fixing head and to rotate under the effect of frictional force, described interior pin is between friction pulley and contact roller, in under the effect of contact roller, pin is clamped, in driving when friction pulley rotates, pin does rectilinear motion, and friction pulley and contact roller surface are provided with groove, prevent interior pin from rolling thus ensure that inserting needle direction is accurate.
The present invention has following technique effect and advantage:
1, the present invention adopts frictional wheel drive to implant to realize interior pin, adopt rack pinion to realize outer pin feeding, and make compact overall structure, quality is light.
2, compared with existing manual seeds implanted mechanism, the present invention can realize continuous print seeds implanted process, improves procedure efficiency, shortens operating time, reduces doctor's labor intensity.
Accompanying drawing explanation
Fig. 1 overall structure schematic diagram of the present invention.
Fig. 2 guide finger partial schematic diagram of the present invention.
Fig. 3 particle of the present invention receives position profile.
In figure: 1. base plate, the outer pin drive motors of 2-1., the outer pin drive motors fixing head of 2-2., 2-3. gear, 2-4. tooth bar, 2-5. guide finger, 2-6. guide plate, 2-7. particle receives bootstrap block, the outer pin gripper sleeve of 2-8., the outer pin hold-down screw of 2-9., pin drive motors in 3-1., 3-2. friction pulley, 3-3. contact roller, pin drive motors fixing head in 3-4., 3-5. contact roller fixing head, 4. outer pin, pin in 5-1., 5-2. locating piece, 6. radioactive particle supplying module.
Detailed description of the invention
Below in conjunction with accompanying drawing and concrete embodiment, a kind of electronic seeds implanted device for closely radiation treatment of the present invention is described in detail.
Embodiment 1, see accompanying drawing 1, accompanying drawing 2, accompanying drawing 3.
The present invention is a kind of electronic seeds implanted device for closely radiation treatment, comprise base plate 1, outer pin driver module 2, interior pin driver module 3, interior pin 5-1, outer pin 4, radioactive particle supplying module 6, it is characterized in that: described base plate 1 is connected with the outer pin drive motors 2-1 in outer pin driver module 2 and the interior pin drive motors 3-1 in interior pin driver module 3, outer pin gripper sleeve 2-8 and the outer pin 4 of described outer pin driver module 2 end are connected, pin 5-1 in described interior pin driver module 3 is connected by friction pair, described interior pin 5-1 is solid needle, described outer pin 4 is hollow needle, described interior pin 5-1 is at described outer pin 4 internal slide.It is specifically intended that described tooth bar 2-4 and guide plate 2-6 pin junction are positioned at the right side of guide plate 2-6, ensure that gear 2-3 is positioned at the right side of pin 5-1 with this, prevent inside and outside needle construction from interfering.
Described outer pin driver module 2 specifically comprises: outer pin drive motors 2-1, outer pin drive motors fixing head 2-2, gear 2-3, tooth bar 2-4, guide finger 2-5, guide plate 2-6, particle receives bootstrap block 2-7, outer pin retaining sleeve 2-8, outer pin hold-down screw 2-9, described base plate 1 is connected by screw with outer pin drive motors fixing head 2-2, outer pin drive motors 2-1 is connected with outer pin drive motors fixing head 2-2 by four screws, outer pin drive motors 2-1 output shaft adopts key to be connected with gear 2-3, outer pin drive motors 2-1 can rotate by driven gear 2-3, gear 2-3 forms rack-and-pinion with outer pin drive motors 2-1 and is connected, and be the rectilinear motion of tooth bar 2-4 by the convert rotational motion of gear 2-3, the lower surface of tooth bar 2-4 is provided with blind hole, one end of guide finger 2-5 and blind hole adopt interference fit, the other end of described guide finger 2-5 slides in the notch of base plate 1, the notch of base plate 1 is rectangular notch, can ensure that the direction of motion of tooth bar 2-4 is consistent with the inserting needle direction of outer pin, one end of tooth bar 2-4 by pin and guide plate 2-6 hinged, guide plate 2-6 is fixed with particle by four bolts and receives bootstrap block 2-7, particle receives bootstrap block 2-7 front end face blind hole internal fixtion outer pin retaining sleeve 2-8, and receive bootstrap block 2-7 upper surface at particle and be provided with through hole, through hole and particle receive bootstrap block 2-7 front end face blind hole and pass through mutually, the through hole that particle receives bootstrap block 2-7 upper surface is screwed hole, for screwing in holding screw, holding screw particle is accepted bootstrap block 2-7 and outer pin retaining sleeve 2-8 fixes, described particle receives the radioactive particle of bootstrap block 2-7 reception from radioactive particle supplying module 6, and guide particle to enter outer pin 4, described outer pin retaining sleeve 2-8 cavity internal fixtion has outer pin 4, and clamp under the effect of pin hold-down screw 2-9 outside, outer pin retaining sleeve 2-8 and outer pin hold-down screw 2-9 are for being threaded, outer pin hold-down screw 2-9 axle center place has through hole, outer pin 4 is through the through hole at outer pin hold-down screw 2-9 axle center place, in addition, particle receives the lower through-hole of bootstrap block 2-7, the particle outlet of radioactive particle supplying module 6, the outer through hole of pin hold-down screw 2-9, the cavity of outer pin 4 are located along the same line, thus ensure that radioactive particle enters in the cavity of outer pin 4 smoothly.
Described interior pin driver module 3 specifically comprises: interior pin drive motors 3-1, interior pin drive motors fixing head 3-4, friction pulley 3-2, contact roller 3-3, contact roller fixing head 3-5, interior pin 5-1, limited block 5-2, described interior pin drive motors 3-1 is connected by interior pin drive motors fixing head 3-4 and base plate 1, output shaft and the friction pulley 3-2 of interior pin drive motors 3-1 are connected, interior pin drive motors 3-1 drives friction pulley 3-2 to rotate, in addition, described contact roller 3-3 to be connected with base plate 1 by contact roller fixing head 3-4 and to rotate under the effect of friction pulley 3-2 frictional force, described interior pin 5-1 is between friction pulley 3-2 and contact roller 3-3, in under the effect of contact roller 3-3, pin 5-1 is clamped, in driving when friction pulley 3-2 rotates, pin 5-1 does rectilinear motion, and friction pulley 3-2 and contact roller 3-3 surface are provided with groove, prevent interior pin 5-1 from rolling thus ensure that inserting needle direction is accurate, in addition the groove on friction pulley 3-2 and contact roller 3-3 surface can play the effect of increasing friction force, prevent interior pin 5-1 and friction pulley 3-2 and contact roller 3-3 surface from relative sliding occurring.
Outer pin drive motors 2-1 axle rotates, carry-over bar 2-4, guide finger 2-5, guide plate 2-6, particle reception bootstrap block 2-7, outer pin gripper sleeve 2-8, outer pin hold-down screw 2-9, outer pin 4 is with to move by gear 2-3, realize the inserting needle of outer pin 4, withdraw of the needle function, guide finger 2-5 and guide plate 2-6 slides in the notch of base plate 1, play the guiding role, ensure the linear precision of outer pin 4 inserting needle.In under the pressure effect of contact roller 3-3, pin 5-1 is clamped by friction pulley 3-2 and contact roller 3-3, interior pin drive motors 3-1 drives friction pulley 3-2 to rotate, thus the inserting needle of pin 5-1 moves in realizing, interior pin 5-1 is through the particle outlet of radioactive particle supplying module 6, in radioactive particle supplying module 6 one particle can be sent into focus by each inserting needle of interior pin 5-1, after a seeds implanted completes, interior pin 5-1 returns, and radioactive particle supplying module 6 supplements a radioactive particle automatically.Interior pin 5-1 inserting needle again, realizes the implantation of the second granule, and repeated multiple times advance and retreat pin can realize repeatedly seeds implanted, and locating piece 5-2 is positioned at pin 5-1 end, effectively can prevent inserting needle Guo Shen harm people soma.
The exemplary illustration of present embodiment just to this patent, does not limit its protection domain, and those skilled in the art can also change, as long as no the spirit exceeding this patent, in the protection domain of this patent its local.
Claims (3)
1. the electronic seeds implanted device for closely radiation treatment, comprise base plate (1), outer pin driver module (2), interior pin driver module (3), interior pin (5-1), outer pin (4), radioactive particle supplying module (6), it is characterized in that: described base plate (1) is connected with the outer pin drive motors (2-1) in outer pin driver module (2) and the interior pin drive motors (3-1) in interior pin driver module (3), outer pin gripper sleeve (2-8) and the outer pin (4) of described outer pin driver module (2) end are connected, pin (5-1) in described interior pin driver module (3) is connected by friction pair, described interior pin (5-1) is solid needle, described outer pin (4) is hollow needle, described interior pin (5-1) is at described outer pin (4) internal slide.
2. a kind of electronic seeds implanted device for closely radiation treatment according to claim 1, it is characterized in that: described outer pin driver module (2) specifically comprises: outer pin drive motors (2-1), outer pin drive motors fixing head (2-2), gear (2-3), tooth bar (2-4), guide finger (2-5), guide plate (2-6), particle receives bootstrap block (2-7), outer pin retaining sleeve (2-8), outer pin hold-down screw (2-9), described outer pin drive motors (2-1) is fixed on base plate (1) by outer pin drive motors fixing head (2-2), outer pin drive motors (2-1) output shaft fixed connection has gear (2-3), gear (2-3) is the rectilinear motion of tooth bar (2-4) by the convert rotational motion of the outer pin drive motors (2-1) of rack-and-pinion adjutant, the lower surface of tooth bar (2-4) is fixed with guide finger (2-5), described guide finger (2-5) play the guiding role in the notch of base plate, the other end of tooth bar (2-4) by pin and guide plate (2-6) hinged, guide plate (2-6) is bolted particle and has received bootstrap block (2-7), particle receives bootstrap block (2-7) front end and is fixed with outer pin retaining sleeve (2-8), described particle receives the radioactive particle of bootstrap block (2-7) reception from radioactive particle supplying module (6), and guide particle to enter outer pin (4), described outer pin retaining sleeve (2-8) cavity internal fixtion has outer pin (4), and clamp under the effect of pin hold-down screw (2-9) outside.
3. a kind of electronic seeds implanted device for closely radiation treatment according to claim 1, it is characterized in that: described interior pin driver module (3) specifically comprises: interior pin drive motors (3-1), interior pin drive motors fixing head (3-4), friction pulley (3-2), contact roller (3-3), contact roller fixing head (3-5), interior pin (5-1), limited block (5-2), described interior pin drive motors (3-1) is connected by interior pin drive motors fixing head (3-4) and base plate (1), output shaft and the friction pulley (3-2) of interior pin drive motors (3-1) are connected, interior pin drive motors (3-1) drives friction pulley (3-2) to rotate, in addition, by contact roller fixing head, (3-40 to be connected with base plate (1) and to rotate under the effect of frictional force described contact roller (3-3), described interior pin (5-1) is positioned between friction pulley (3-2) and contact roller (3-3), in under the effect of contact roller (3-3), pin (5-1) is clamped, in driving when friction pulley (3-2) rotates, pin (5-1) does rectilinear motion, and friction pulley (3-2) and contact roller (3-3) surface are provided with groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510778251.7A CN105251111A (en) | 2015-11-16 | 2015-11-16 | Electric particle implantation device for short-distance radioactive therapy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510778251.7A CN105251111A (en) | 2015-11-16 | 2015-11-16 | Electric particle implantation device for short-distance radioactive therapy |
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| Publication Number | Publication Date |
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| CN105251111A true CN105251111A (en) | 2016-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510778251.7A Pending CN105251111A (en) | 2015-11-16 | 2015-11-16 | Electric particle implantation device for short-distance radioactive therapy |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105902303A (en) * | 2016-04-12 | 2016-08-31 | 哈尔滨理工大学 | Friction wheel type sleeve flexible needle insertion mechanism |
| CN108831580A (en) * | 2018-08-22 | 2018-11-16 | 原子高科股份有限公司 | A kind of radioactive particle assembles and the device and method of sealing automatically |
| CN109260586A (en) * | 2018-07-23 | 2019-01-25 | 深圳先进技术研究院 | A kind of radioactive prospecting instrument operating robot |
| CN109499009A (en) * | 2018-12-12 | 2019-03-22 | 深圳先进技术研究院 | A kind of robot for implantation radiation particle |
| CN110665130A (en) * | 2019-11-06 | 2020-01-10 | 佛山市柏康机器人技术有限公司 | Electric gear rack type prostate particle implanting device |
| CN111658997A (en) * | 2020-06-18 | 2020-09-15 | 哈尔滨理工大学 | Device capable of continuously implanting radioactive particles and implanting method using device |
| CN112169157A (en) * | 2020-11-04 | 2021-01-05 | 哈尔滨理工大学 | Belt wheel driven hand-held electric particle implantation gun |
| CN112169159A (en) * | 2020-11-04 | 2021-01-05 | 哈尔滨理工大学 | Hand-held electric particle implantation device driven by linear motor |
| CN112206406A (en) * | 2020-11-11 | 2021-01-12 | 哈尔滨理工大学 | Linear motor driven hand-held electric particle implantation gun |
| CN113209497A (en) * | 2021-04-29 | 2021-08-06 | 山东第一医科大学附属省立医院(山东省立医院) | Gun type radioactive particle implanter for laryngopharyngeal cancer |
| CN113941082A (en) * | 2021-09-30 | 2022-01-18 | 中国科学院深圳先进技术研究院 | Robot system for releasing cavity particle support |
| CN114699659A (en) * | 2022-04-22 | 2022-07-05 | 哈尔滨理工大学 | Device for automatically replacing short-distance radiotherapy puncture needle |
| CN114733090A (en) * | 2022-05-18 | 2022-07-12 | 哈尔滨理工大学 | Pneumatic particle implantation device compatible with MRI environment |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105902303A (en) * | 2016-04-12 | 2016-08-31 | 哈尔滨理工大学 | Friction wheel type sleeve flexible needle insertion mechanism |
| CN109260586A (en) * | 2018-07-23 | 2019-01-25 | 深圳先进技术研究院 | A kind of radioactive prospecting instrument operating robot |
| CN108831580B (en) * | 2018-08-22 | 2023-10-10 | 原子高科股份有限公司 | Device and method for automatically assembling and sealing radioactive particles |
| CN108831580A (en) * | 2018-08-22 | 2018-11-16 | 原子高科股份有限公司 | A kind of radioactive particle assembles and the device and method of sealing automatically |
| CN109499009A (en) * | 2018-12-12 | 2019-03-22 | 深圳先进技术研究院 | A kind of robot for implantation radiation particle |
| CN110665130A (en) * | 2019-11-06 | 2020-01-10 | 佛山市柏康机器人技术有限公司 | Electric gear rack type prostate particle implanting device |
| CN111658997A (en) * | 2020-06-18 | 2020-09-15 | 哈尔滨理工大学 | Device capable of continuously implanting radioactive particles and implanting method using device |
| CN112169157A (en) * | 2020-11-04 | 2021-01-05 | 哈尔滨理工大学 | Belt wheel driven hand-held electric particle implantation gun |
| CN112169159A (en) * | 2020-11-04 | 2021-01-05 | 哈尔滨理工大学 | Hand-held electric particle implantation device driven by linear motor |
| CN112206406A (en) * | 2020-11-11 | 2021-01-12 | 哈尔滨理工大学 | Linear motor driven hand-held electric particle implantation gun |
| CN113209497B (en) * | 2021-04-29 | 2022-07-01 | 山东第一医科大学附属省立医院(山东省立医院) | Gun type radioactive particle implanter for laryngopharyngeal cancer |
| CN113209497A (en) * | 2021-04-29 | 2021-08-06 | 山东第一医科大学附属省立医院(山东省立医院) | Gun type radioactive particle implanter for laryngopharyngeal cancer |
| CN113941082A (en) * | 2021-09-30 | 2022-01-18 | 中国科学院深圳先进技术研究院 | Robot system for releasing cavity particle support |
| CN113941082B (en) * | 2021-09-30 | 2023-11-14 | 中国科学院深圳先进技术研究院 | Robot system for releasing cavity particle support |
| CN114699659A (en) * | 2022-04-22 | 2022-07-05 | 哈尔滨理工大学 | Device for automatically replacing short-distance radiotherapy puncture needle |
| CN114733090A (en) * | 2022-05-18 | 2022-07-12 | 哈尔滨理工大学 | Pneumatic particle implantation device compatible with MRI environment |
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