CN105727431B - TRUS image-guidance multichannel prostate short distance radioactive prospecting instruments robot - Google Patents
TRUS image-guidance multichannel prostate short distance radioactive prospecting instruments robot Download PDFInfo
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- CN105727431B CN105727431B CN201610062407.6A CN201610062407A CN105727431B CN 105727431 B CN105727431 B CN 105727431B CN 201610062407 A CN201610062407 A CN 201610062407A CN 105727431 B CN105727431 B CN 105727431B
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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
- A61N5/1002—Intraluminal radiation therapy
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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
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Abstract
TRUS image-guidance multichannel prostate short distance radioactive prospecting instruments robot, is related to medical instruments field.The present invention provides TRUS image-guidance multichannel prostate short distance radioactive prospecting instruments robot to overcome the defect of manual image navigation prostate short distance radioactive prospecting instrument operation.The TRUS image-guidance multichannel prostate short distance radioactive prospecting instruments robot of the present invention, composition include：Rack, way moving mechanism, position adjusting mechanism, electronic seeds implanted mechanism, multichannel piercing mechanism and TRUS image-guidances mechanism, its design feature is way moving mechanism, position adjusting mechanism is adjusted to object height (just positioning) with the use of the outer needle that electronic seeds implanted mechanism may be implemented, way moving mechanism combination multichannel piercing mechanism, the configuration of the tumor region puncture needle of prostate and fixed prostate effect may be implemented, electronic seeds implanted mechanism combination TRUS image-guidances mechanism, acupuncture needle position-force control is may be constructed by image feedback, improve the precision of seeds implanted.
Description
Technical field
The present invention and medical instruments field belong to medicine, machinery, automation cross discipline, and in particular to TRUS images are led
Navigate multichannel prostate short distance radioactive prospecting instrument robot.
Background technology
Closely penetrating property seeds implanted has the characteristics that targeting is strong, without side-effects, wound is small, curative for effect, in state's class
The outer standard approach for having become treatment early prostate cancer.Conventional radioactive iatrotechnics be under the guiding of manual ultrasound, by
In the guide plate being fixed in ultrasound stent, clinician is wrapped up 20~120 Nitinols using manual particle implantation device
125I（144Gy）/103Pd（120Gy）Seeds implanted target area position, continuous low dosage radiation gamma-rays to tumour cell into
Row kills.Current particle implantation device both domestic and external is mostly single channel, manually performs, this makes seeds implanted, and time-consuming, particle is put
It is not high to set precision, when single channel punctures prostate, prostate gland will produce larger deformation and displacement problem, in addition pass through straight
Intestines excusing from death image man-operated mechanism can also influence to lead in real time in art since the shake of human hand causes the fogging image acquired in real time
The precision of boat, and above process needs the highly consistent cooperation of human hand, eyes, brain could be completed so complicated fine
Operation.
Invention content
The present invention is for the defect for overcoming manual image navigation prostate short distance radioactive prospecting instrument to perform the operation, Jin Erti
TRUS image-guidance multichannel prostate short distance radioactive prospecting instruments robot is supplied.
The technical solution taken by the invention to solve the above technical problem is：
The TRUS image-guidance multichannel prostate short distance radioactive prospecting instruments robot of the present invention, composition packet
It includes：Rack, way moving mechanism, position adjusting mechanism, electronic seeds implanted mechanism, multichannel piercing mechanism and TRUS images are led
Plane structure, is equipped with way moving mechanism in the rack, and way moving mechanism includes the first slide unit, solid on first slide unit
Position adjusting mechanism is connect, the way moving mechanism further includes the second slide unit, and affixed multichannel punctures machine on second slide unit
Structure, multichannel piercing mechanism include the ring-like adapter of spininess, and the ring-like adapter of spininess includes that 6 × 6 centre-to-centre spacing are 5mm array needles
Hole can pass through control the according to preoperative number and the distribution type position for planning to be equipped with puncture needle on pin hole, way moving mechanism
One slide unit, the movement of the second slide unit realize that position adjusting mechanism, multichannel piercing mechanism are moved along needle thorn axis two-way linear, described
Position adjusting mechanism is equipped with link, fixed electronic seeds implanted mechanism under link, below the electronic seeds implanted mechanism
Equipped with TRUS image-guidances mechanism, TRUS image-guidances mechanism can acquire tumor boundary and puncture needle in real time, track lesion point.
The TRUS image-guidance multichannel prostate short distance radioactive prospecting instruments robot of said program, structure are special
Point is way moving mechanism, position adjusting mechanism is adjusted to target with the use of the outer needle that electronic seeds implanted mechanism may be implemented
Highly (just positioning), the tumor region puncture needle of prostate may be implemented in way moving mechanism combination multichannel piercing mechanism
Configuration and the effect of fixed prostate, electronic seeds implanted mechanism combination TRUS image-guidances mechanism can be with by image feedback
Acupuncture needle position-force control is constituted, the precision of seeds implanted is improved.
Scheme is further designed：In order to preferably play the effect of way moving mechanism, way moving mechanism packet
Include U-shaped rack one, it is characterised in that：Fixed axially driving motor one, axially driving motor two, the axial direction in U-shaped rack one
Affixed first leading screw of motor shaft of driving motor one, the first leading screw are established screw pair with the first slide unit and are connect, first slide unit
Can also affixed position adjusting mechanism U-shaped rack two, affixed second leading screw of motor shaft of the axially driving motor two, described
Two leading screws are established screw pair with the second slide unit and are connect, and copper sheathing is also equipped on the second slide unit, and the copper sheathing and the first leading screw are established
Be slidably connected, the second slide unit of copper sheathing pair plays a supportive role, on second slide unit can also affixed spininess piercing mechanism spininess ring
Type adapter.
Scheme is further designed：In order to preferably play the effect of position adjusting mechanism, the position adjusting mechanism packet
Include U-shaped rack two, it is characterised in that：Fixed vertical direction decelerating motor in U-shaped rack two, the vertical direction decelerating motor
The affixed vertical leading screw of motor shaft, vertical lead screw are established screw pair with vertical slide unit and are connect, the also affixed tripod of vertical slide unit,
Fixed motor mounting plate on the tripod, the motor mounting plate are equipped with servo motor, and the servo motor passes through synchronization
Toothed belt is sequentially connected with cross lead screw, and cross lead screw is established screw pair with nut and connect, and the nut is fixed on link,
The link can be with the shell of affixed electronic seeds implanted mechanism.
Scheme is further designed：In order to preferably play the effect of electronic seeds implanted mechanism, the electronic particle
Implanted mechanism includes type rack three, be equipped in the U-shaped rack three hollow needle drive feeding motor, solid needle driving motor,
Hollow needle support guide frame, the hollow needle feed also affixed 4th leading screw of motor, and the 4th leading screw and the 4th slide unit establish spiral shell
The secondary connection of rotation, the also affixed particle library receiver of the 4th slide unit, particle library receiver are equipped with Elastic Cylindrical magazine, grain
The also fixed hollow needle holder of screw-type on word bank receiver, can be with loading, unloading hollow needle, particle library receiver by screw thread
On be additionally provided with hollow needle electric rotating machine, the affixed gear one of hollow needle electric rotating machine output shaft, gear one passes through gear pair tooth connection
Wheel two, gear two are mounted on the hollow needle holder of screw-type, and the other end is equipped with bearing, axis on the hollow needle holder of screw-type
It holds and is fixed in the receiver of particle library, the hollow needle and the foundation of hollow needle support guide frame are slidably connected, hollow needle support
Disinfection is additionally provided on leading truck, can to hollow needle its disinfection, play support, guiding role, the solid needle driving motor affixed the
Three leading screws, third leading screw are established screw pair with third slide unit and are connect, the also affixed solid needle holder of the four or three slide unit, real
It is additionally provided with lock screw on heart needle holder, it can be with the solid needle of the solid needle holder of loading, unloading by lock screw.
Scheme is further designed：In order to preferably play the effect of multichannel piercing mechanism, the multichannel punctures
Mechanism includes the ring-like adapter of spininess, grid guiding die plate and puncture needle, and the ring-like adapter of spininess includes substrate, the base
Plate is equipped with needle rotary drive motor, the affixed gear wheel of needle rotary drive motor output shaft, and gear wheel is established with pinion gear
Gear pair connects, and the pinion gear is also established gear pair with middle gear and connect, and fixed pin hole on middle gear, the pin hole can pacify
Puncture needle is filled, the pinion gear and middle gear all establish the company of relative rotation by 6 × 6 array be installed on substrate with substrate
Connecing relationship, while the adjacent two pinion gear centre-to-centre spacing of array are 5mm, two adjacent middle gear centre-to-centre spacing of array are also 5mm,
It is 5mm arrays that pin hole on middle gear, which is also in 6 × 6 centre-to-centre spacing, can be according to the number and distribution type of preoperative implementing plan puncture needle
Position, is also equipped with the grid guiding die plate of 6cm × 6cm in the rack, and puncture needle outer diameter can be by grid hole, and grid
The aperture in hole and puncture needle outer diameter tolerance are that+0.01mm is preferable.
Scheme is further designed：In order to preferably play the effect of TRUS image-guidances mechanism, the TRUS images are led
Plane structure include probe linear drive motor, probe revolution driving motor, affixed 5th leading screw of probe linear drive motor,
5th leading screw is established screw pair with the 5th slide unit and is connect, and the 5th slide unit is equipped with U-shaped rubber bracket, on U-shaped rubber bracket
Ultrasonic probe is installed, U-shaped rubber bracket and the 5th slide unit can also relatively rotate, and lock screw is additionally provided on U-shaped rubber bracket,
Can be with the ultrasonic probe on the U-shaped rubber bracket of loading, unloading by lock screw, the front end of the ultrasonic probe is additionally provided with probe support
Frame can prevent from generating posture deflection when motion of ultrasound probe, and the affixed guide rod of the probe revolution driving motor, guide rod is equipped with
Linear bearing, linear bearing and guide rod foundation are slidably connected, and linear bearing is also mounted on the 5th slide unit, on the left of linear bearing also
Equipped with cylinder pinion gear, installation gap gear wheel is gone back on U-shaped rubber bracket, the cylinder pinion gear and notch gear wheel establish tooth
Wheel set connects, and probe revolution driving motor is transmitted by gear pair, and ultrasonic probe revolution fortune on U-shaped rubber bracket may be implemented
It is dynamic.
Compared with prior art, the present invention has following technique effect and advantage：
The present invention using way moving mechanism, position adjusting mechanism, electronic seeds implanted mechanism, multichannel piercing mechanism,
TRUS image-guidances mechanism is used cooperatively, and the closed-loop control placed based on the accurate particle of image feedback may be implemented, and use is mostly logical
Road piercing mechanism can reduce the puncture time of puncture needle, when in addition spininess punctures prostate, can effectively reduce prostate
Body of gland along needle shaft vertical plane deformation and displacement, to improve particle placement positional precision.
Description of the drawings
Fig. 1 overall structure diagrams.
Fig. 2 way moving mechanism structure schematic diagrames.
Fig. 3 position adjusting mechanism structural schematic diagrams.
The electronic seeds implanted mechanism structure schematic diagrames of Fig. 4.
The electronic seeds implanted mechanism partial structural diagrams of Fig. 5.
Fig. 6 multichannel piercing mechanism structural schematic diagrams.
Fig. 7 multichannel piercing mechanism structural side views.
Fig. 8 TRUS image-guidance mechanism structure schematic diagrames.
1. rack in figure, 2. way moving mechanisms, 3. position adjusting mechanisms, 4. electronic seeds implanted mechanisms, 5. multichannels
Piercing mechanism, 6. TRUS image-guidances mechanisms, the first slide units of 2-1., the second slide units of 2-2., the axially driving motors one of 2-3., 2-
4. polished rod, 2-5. copper sheathings, the axially driving motors two of 2-6., 2-7.U types rack one, the first leading screws of 2-8., the second leading screws of 2-9.,
3-1. links, 3-2.U types rack two, the vertical leading screws of 3-3., the vertical slide units of 3-4., 3-5. tripods, 3-6. cross lead screws, 3-
7. motor mounting plate, 3-8. synchronous toothed belts, 3-9. servo motors, 3-10. vertical direction decelerating motors, 4-1. solid needles drive
Dynamic motor, 4-2. third leading screws, 4-3. third slide units, the solid needle holders of 4-4., 4-5. lock screws, 4-6. solid needles, 4-
7. hollow needle, 4-8. sterilizers, 4-9. hollow needles feeding motor, 4-10.U types rack three, the 4th leading screws of 4-11., 4-12. are hollow
Needle support guide frame, the 4th slide units of 4-13., 4-14. Elastic Cylindrical magazines, 4-15. magazine card slots, 4-16. bearings, 4-17.
Particle library receiver, 4-18. gears two, 4-19. hollow needle electric rotating machines, the hollow needle holder of 4-20. screw-types, 4-21. teeth
Take turns the ring-like adapter of one, 5-1. spininess, 5-2. grid guiding die plates, 5-3. grid holes, 5-4. puncture needles, the rotation of 5-1-1. needles
Driving motor, 5-1-2. gear wheels, 5-1-3. pinion gears, 5-1-4. middle gears, 5-1-5. pin holes, 5-1-6. substrates, 6-1. are visited
Head linear drive motor, 6-2. notch gear wheels, 6-3.U type rubber brackets, the 5th leading screws of 6-4., 6-5. ultrasonic probes, 6-6.
Probe revolution driving motor, 6-7. cylinder pinion gears, 6-8. linear bearings, the 5th slide units of 6-9., 6-10. lock screws, 6-11.
Guide rod, 6-12. probe support framves.
Specific implementation mode
The TRUS image-guidance multichannels prostate of the present invention is closely put with specific implementation example below in conjunction with the accompanying drawings
She Xing seeds implanteds robot is described in detail.
Referring to attached drawing 1, attached drawing 2, attached drawing 3, TRUS image-guidance multichannel prostate short distance radioactivity grains of the invention
Son implantation robot, composition include：Rack 1, way moving mechanism 2, position adjusting mechanism 3, electronic seeds implanted mechanism 4,
Multichannel piercing mechanism 5 and TRUS image-guidances mechanism 6 are equipped with way moving mechanism 2, way moving machine in the rack 1
Structure 2 includes affixed position adjusting mechanism 3 on the first slide unit 2-1, the first slide unit 2-1, and the way moving mechanism 2 further includes
Affixed multichannel piercing mechanism 5 on second slide unit 2-2, the second slide unit 2-2, multichannel piercing mechanism 5 include that spininess is ring-like
Adapter 5-1, the ring-like adapter 5-1 of spininess include that 6 × 6 centre-to-centre spacing are 5mm array pin hole 5-1-5, can be according to preoperative plan
Be equipped with number and the distribution type position of puncture needle 5-4 on pin hole 5-1-5, way moving mechanism 2 by control the first slide unit 2-1,
Second slide unit 2-2 movements realize that position adjusting mechanism 3, multichannel piercing mechanism 5 are moved along needle thorn axis two-way linear, institute's rheme
It sets adjustment mechanism 3 and is equipped with link 3-1, fixed electronic seeds implanted mechanism 4 under link 3-1, the electronic seeds implanted machine
4 lower section of structure is equipped with TRUS image-guidances mechanism 6, and TRUS image-guidances mechanism 6 can acquire tumor boundary and puncture needle 5-4 in real time,
Track lesion point.
Referring to attached drawing 1, attached drawing 4, attached drawing 5, the electronic seeds implanted mechanism 4 includes three 4-10 of U-shaped rack, described
Hollow needle is installed on three 4-10 of U-shaped rack and drives feeding motor 4-9, solid needle driving motor 4-1, hollow needle support guide frame 4-
12, the hollow needle feeds the motor also affixed 4th leading screw 4-11 of 4-9, and the 4th leading screw 4-11 and the 4th slide unit 4-13 establish spiral shell
The secondary connection of rotation, the 4th slide unit 4-13 also affixed particle library receiver 4-17, particle library receiver 4-17 are equipped with cylinder
The also fixed hollow needle holder 4-20 of screw-type on shape elasticity magazine 4-14, particle library receiver 4-17, can be filled by screw thread,
It unloads and is additionally provided with hollow needle electric rotating machine 4-20, hollow needle electric rotating machine 4-20 on hollow needle 4-7, the particle library receiver 4-17
Output shaft affixed one 4-21 of gear, one 4-21 of gear are mounted on screw thread by two 4-18 of gear pair connection gear, two 4-18 of gear
On the hollow needle holder 4-20 of formula, the other end is equipped with bearing 4-16 on the hollow needle holder 4-20 of screw-type, and bearing 4-16 is solid
It is scheduled in the receiver 4-17 of particle library, the hollow needle 4-7 and the 4-12 foundation of hollow needle support guide frame are slidably connected, hollow
It is additionally provided with disinfection 4-8 on needle support guide frame 4-12, hollow needle 4-7 can be sterilized, be played support, guiding role it, it is described solid
Needle driving motor 4-1 affixed third leading screw 4-2, third leading screw 4-2 establish screw pair with third slide unit 4-3 and connect, and described
It is additionally provided with lock screw 4-5 on four or three slide unit 4-3 also affixed solid needle holder 4-4, solid needle holder 4-4, passes through locking
Screw 4-5 can be with the solid needle 4-6 of the solid needle holder 4-4 of loading, unloading.
Referring to attached drawing 1, attached drawing 6, attached drawing 7, the multichannel piercing mechanism 5 includes the ring-like adapter 5-1 of spininess, grid
Guiding die plate 5-2, grid hole 5-3 and puncture needle 5-4, the ring-like adapter 5-1 of spininess includes substrate 5-1-6, the substrate
5-1-6 is equipped with needle rotary drive motor 5-1-1, the affixed gear wheel 5-1-2 of needle rotary drive motor 5-1-1 output shafts,
Gear wheel 5-1-2 establishes gear pair with pinion gear 5-1-3 and connect, and the pinion gear 5-1-3 also establishes gear with middle gear 5-1-4
Pair connects, and fixed pin hole 5-1-5 on middle gear 5-1-4, the pin hole 5-1-5 can install puncture needle 5-4, the pinion gear 5-
1-3 and middle gear 5-1-4 is mounted on by 6 × 6 arrays on substrate 5-1-6, and is all established with substrate 5-1-6 and relatively rotated connection
Relationship, while the adjacent two pinion gear 5-1-3 centre-to-centre spacing of array are 5mm, two adjacent middle gear 5-1-4 centre-to-centre spacing of array
Also it is 5mm, it is 5mm arrays that the pin hole 5-1-5 on middle gear 5-1-4, which is also in 6 × 6 centre-to-centre spacing, can be according to preoperative implementing plan
The number of puncture needle 5-4 and distribution type position are also equipped with the grid guiding die plate 5-2 of 6cm × 6cm, puncture needle in the rack 1
5-4 outer diameters can be by grid hole 5-3, and the aperture of grid hole 5-3 and puncture needle 5-4 outer diameter tolerances are that+0.01mm is preferable.
Referring to attached drawing 1, attached drawing 8, TRUS image-guidances mechanism 6 includes probe linear drive motor 6-1, probe revolution
Driving motor 6-6, the affixed 5th leading screw 6-4 of probe linear drive motor 6-1, the 5th leading screw 6-4 and the 5th slide unit 6-9 are built
Vertical screw pair connection, the 5th slide unit 6-9 are equipped with U-shaped rubber bracket 6-3, ultrasonic probe are installed on U-shaped rubber bracket 6-3
6-5, U-shaped rubber bracket 6-3 and the 5th slide unit 6-9 can also be relatively rotated, and lock screw is additionally provided on U-shaped rubber bracket 6-3
6-10, by lock screw 6-10 can with the ultrasonic probe 6-5 on the U-shaped rubber bracket 6-3 of loading, unloading, the ultrasonic probe 6-5's
Front end is additionally provided with probe support frame 6-12, and posture deflection is generated when can prevent ultrasonic probe 6-5 from moving, and the probe revolution is driven
Dynamic motor 6-6 affixed guide rod 6-11, guide rod 6-11 are equipped with linear bearing 6-8, linear bearing 6-8 and guide rod 6-11 foundation slidings
Connection, linear bearing 6-8 is also mounted on the 5th slide unit 6-9, and cylinder pinion gear 6-7 is also equipped on the left of linear bearing 6-8, U-shaped
Installation gap gear wheel 6-2, the cylinder pinion gear 6-7 and notch gear wheel 6-2 are gone back on rubber bracket 6-3 establishes gear pair company
It connects, probe revolution driving motor 6-6 is transmitted by gear pair, and ultrasonic probe 6-5 on U-shaped rubber bracket 6-3 may be implemented and turn round
Movement.
Below in conjunction with the accompanying drawings to the TRUS image-guidance multichannel prostate short distance radioactive prospecting instrument machines of the present invention
Device people's working method is described below：
Referring to attached drawing 1, attached drawing 4, attached drawing 5, the electronic seeds implanted mechanism 4 includes three 4-10 of U-shaped rack, described
Hollow needle is installed on three 4-10 of U-shaped rack and drives feeding motor 4-9, solid needle driving motor 4-1, hollow needle support guide frame 4-
12, the hollow needle feeds the motor also affixed 4th leading screw 4-11 of 4-9, and the 4th leading screw 4-11 and the 4th slide unit 4-13 establish spiral shell
The secondary connection of rotation, the 4th slide unit 4-13 also affixed particle library receiver 4-17, particle library receiver 4-17 are equipped with cylinder
The also fixed hollow needle holder 4-20 of screw-type on shape elasticity magazine 4-14, particle library receiver 4-17, can be filled by screw thread,
It unloads and is additionally provided with hollow needle electric rotating machine 4-20, hollow needle electric rotating machine 4-20 on hollow needle 4-7, the particle library receiver 4-17
Output shaft affixed one 4-21 of gear, one 4-21 of gear are mounted on screw thread by two 4-18 of gear pair connection gear, two 4-18 of gear
On the hollow needle holder 4-20 of formula, the other end is equipped with bearing 4-16 on the hollow needle holder 4-20 of screw-type, and bearing 4-16 is solid
It is scheduled in the receiver 4-17 of particle library, the hollow needle 4-7 and the 4-12 foundation of hollow needle support guide frame are slidably connected, hollow
It is additionally provided with disinfection 4-8 on needle support guide frame 4-12, hollow needle 4-7 can be sterilized, be played support, guiding role it, it is described solid
Needle driving motor 4-1 affixed third leading screw 4-2, third leading screw 4-2 establish screw pair with third slide unit 4-3 and connect, and described
It is additionally provided with lock screw 4-5 on four or three slide unit 4-3 also affixed solid needle holder 4-4, solid needle holder 4-4, passes through locking
Screw 4-5 can be with the solid needle 4-6 of the solid needle holder 4-4 of loading, unloading.
Just positioning movement：When one 2-3 of axially driving motor rotates, the first leading screw 2-8 is driven to make rotary motion, leading screw will
Rotary motion is converted to the linear motion of the first slide unit 2-1, to realize the axial just positioning of electronic seeds implanted mechanism 4, when perpendicular
When histogram is rotated to decelerating motor 3-10, vertical leading screw 3-3 is driven to make rotary motion, rotary motion is converted to vertical cunning by leading screw
The linear motion of platform 3-4, to realize that electronic 4 vertical direction of seeds implanted mechanism just positions, when servo motor 3-9 rotates,
Cross lead screw 3-6 is driven to make rotary motion by synchronous toothed belt 3-8 transmissions, rotary motion is converted to link 3-1's by thick stick
Linear motion, to realize that electronic 4 front-rear direction of seeds implanted mechanism just positions, coordinated signals way moving mechanism 2, position tune
Complete machine structure 3 and seeds implanted mechanism 4, may be implemented accurately particle placement process.
Seeds implanted moves：When hollow needle feeding motor 4-9 is rotated, the 4th leading screw 4-11 is driven to make revolution fortune
Dynamic, rotary motion is converted to the linear motion of the 4th slide unit 4-13 by leading screw, to realize the positioning of hollow needle 4-7, when hollow
When needle electric rotating machine 4-20 is rotated, hollow needle 4-7 rotation is realized by gear auxiliary driving, linkage timing control hollow needle into
Flexible hollow needle may be implemented to motor 4-9, hollow needle electric rotating machine 4-20 and realize that curved path punctures, barrier can be bypassed with this
Hinder puncture,
When solid needle driving motor 4-1 is rotated, third leading screw 4-2 rotary motions are driven, leading screw is by rotary motion
The linear motion for being converted to third slide unit 4-3, to realize the positioning of solid needle 4-6, linkage timing control hollow needle feeding electricity
Machine 4-8, hollow needle electric rotating machine 4-20, solid needle driving motor 4-1, may be implemented the seeds implanted process of curved path, lead to
It crosses motor micro-stepping control and interior needle hollow needle feeding motor 4-8, hollow needle electric rotating machine 4-20, solid needle driving motor may be implemented
The fine tuning of 4-1, to reach higher seeds implanted placement precision.
Spininess lancing motion：When two 2-6 of axially driving motor rotates, the second leading screw 2-9 is driven to make rotary motion, leading screw
The linear motion that rotary motion is converted to the second slide unit 2-2, to realize that the puncture needle 5-4 of multichannel piercing mechanism 5 is axial
Positioning, when needle rotary drive motor 5-1-1 rotates, by gear wheel 5-1-2, pinion gear 5-1-3 and middle gear 5-1-4 this 2
Grade reduction ratio is transmitted, and puncture needle 5-4 affixed on pinion gear 5-1-3 is driven to rotate, and linkage timing control is axially driving
The stabilization piercing process of more puncture needle 5-4 may be implemented in two 2-6 of motor, needle rotary drive motor 5-1-1.
Present embodiment is only to the exemplary description of this patent does not limit its scope of protection, people in the art
Member can also be changed its part, as long as it does not exceed the essence of this patent, within the protection scope of the present patent.
Claims (3)
1.TRUS image-guidance multichannel prostate short distance radioactive prospecting instruments robot, composition include：Rack（1）,
Way moving mechanism（2）, position adjusting mechanism（3）, electronic seeds implanted mechanism（4）, multichannel piercing mechanism（5）Scheme with TRUS
As navigation sector（6）, the rack（1）On way moving mechanism is installed（2）, way moving mechanism（2）Including the first slide unit
（2-1）, first slide unit（2-1）Upper affixed position adjusting mechanism（3）, the way moving mechanism（2）It further include the second cunning
Platform（2-2）, second slide unit（2-2）Upper affixed multichannel piercing mechanism（5）, multichannel piercing mechanism（5）Including spininess ring
Type adapter（5-1）, the ring-like adapter of spininess（5-1）It is 5mm array pin holes including 6 × 6 centre-to-centre spacing（5-1-5）, can basis
It is preoperative to plan in pin hole（5-1-5）Upper outfit puncture needle（5-4）Number and distribution type position, way moving mechanism（2）Pass through control
Make the first slide unit（2-1）, the second slide unit（2-2）Position adjusting mechanism is realized in movement（3）, multichannel piercing mechanism（5）It is pierced along needle
Axis two-way linear moves, the position adjusting mechanism（3）Equipped with link（3-1）, link（3-1）Under fixed electronic particle
Implanted mechanism（4）, the electronic seeds implanted mechanism（4）Lower section is equipped with TRUS image-guidances mechanism（6）, TRUS image-guidance machines
Structure（6）Tumor boundary and puncture needle can be acquired in real time（5-4）, track lesion point.
2. TRUS image-guidances multichannel prostate short distance radioactive prospecting instrument robot according to claim 1,
It is characterized in that：The multichannel piercing mechanism（5）Including the ring-like adapter of spininess（5-1）, grid guiding die plate（5-2）With wear
Pricker（5-4）, the ring-like adapter of spininess（5-1）Including substrate（5-1-6）, the substrate（5-1-6）Needle is equipped with to rotate
Driving motor（5-1-1）, the needle rotary drive motor（5-1-1）The affixed gear wheel of output shaft（5-1-2）, gear wheel（5-1-
2）With pinion gear（5-1-3）Establish gear pair connection, the pinion gear（5-1-3）Also with middle gear（5-1-4）Establish gear pair
Connection, middle gear（5-1-4）Upper fixed pin hole（5-1-5）, the pin hole（5-1-5）Puncture needle can be installed（5-4）, described small
Gear（5-1-3）And middle gear（5-1-4）It is mounted on substrate by 6 × 6 arrays（5-1-6）On, and all and substrate（5-1-6）It builds
It is vertical to relatively rotate connection relation, while two pinion gears that array is adjacent（5-1-3）Centre-to-centre spacing is 5mm, adjacent two of array
Middle gear（5-1-4）Centre-to-centre spacing is also 5mm, middle gear（5-1-4）On pin hole（5-1-5）Also it is 5mm times in 6 × 6 centre-to-centre spacing
Row, can be according to preoperative implementing plan puncture needle（5-4）Number and distribution type position, the rack（1）On be also equipped with 6cm ×
The grid guiding die plate of 6cm（5-2）, puncture needle (5-4) outer diameter can be by grid hole (5-3), and the aperture of grid hole (5-3)
It is+0.01mm with puncture needle (5-4) outer diameter tolerance.
3. TRUS image-guidances multichannel prostate short distance radioactive prospecting instrument robot according to claim 1,
It is characterized in that：TRUS image-guidances mechanism (6) includes probe linear drive motor (6-1), probe revolution driving motor (6-
6), affixed 5th leading screw (6-4) of probe linear drive motor (6-1), the 5th leading screw (6-4) are built with the 5th slide unit (6-9)
Vertical screw pair connection, the 5th slide unit (6-9) are equipped with U-shaped rubber bracket (6-3), and installation is super on U-shaped rubber bracket (6-3)
Sonic probe (6-5), U-shaped rubber bracket (6-3) and the 5th slide unit (6-9) can also relatively rotate, on U-shaped rubber bracket (6-3)
It is additionally provided with lock screw (6-10), it can be with the ultrasonic probe on the U-shaped rubber bracket (6-3) of loading, unloading by lock screw (6-10)
The front end of (6-5), the ultrasonic probe (6-5) are additionally provided with probe support frame (6-12), can prevent ultrasonic probe (6-5) from moving
When generate posture deflection, the affixed guide rod of the probe revolution driving motor (6-6) (6-11), guide rod (6-11) is equipped with linear axis
It holds (6-8), linear bearing (6-8) and guide rod (6-11) foundation are slidably connected, and linear bearing (6-8) is also mounted at the 5th slide unit
On (6-9), it is also equipped with cylinder pinion gear (6-7) on the left of linear bearing (6-8), it is big to go back installation gap on U-shaped rubber bracket (6-3)
Gear (6-2), the cylinder pinion gear (6-7) are established gear pair with notch gear wheel (6-2) and are connected, revolution driving motor of popping one's head in
(6-6) is transmitted by gear pair, and ultrasonic probe (6-5) rotary motion on U-shaped rubber bracket (6-3) may be implemented.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610062407.6A CN105727431B (en) | 2016-01-29 | 2016-01-29 | TRUS image-guidance multichannel prostate short distance radioactive prospecting instruments robot |
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| CN201610062407.6A CN105727431B (en) | 2016-01-29 | 2016-01-29 | TRUS image-guidance multichannel prostate short distance radioactive prospecting instruments robot |
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| CN105727431B true CN105727431B (en) | 2018-11-13 |
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