CN106422043A - Auxiliary automatic positioning mechanism for tumor radiotherapy seed implantation - Google Patents
Auxiliary automatic positioning mechanism for tumor radiotherapy seed implantation Download PDFInfo
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- CN106422043A CN106422043A CN201610925350.8A CN201610925350A CN106422043A CN 106422043 A CN106422043 A CN 106422043A CN 201610925350 A CN201610925350 A CN 201610925350A CN 106422043 A CN106422043 A CN 106422043A
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- Prior art keywords
- arc
- guide rail
- module
- linear module
- shaped
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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
- A61N2005/1012—Templates or grids for guiding the introduction 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
-
- 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
- A61N2005/1085—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy characterised by the type of particles applied to the patient
-
- 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
- A61N2005/1092—Details
Abstract
The invention discloses an auxiliary automatic positioning mechanism for tumor radiotherapy seed implantation. The auxiliary automatic positioning mechanism comprises a base, a horizontal linear module, an arc-shaped guide rail, an arc-shaped sliding module, a vertical linear module, a support arm, a cradle head, a steering engine and a template; the horizontal linear module is installed on the base, and a sliding block I moving left and right is arranged on the horizontal linear module; the lower end of the arc-shaped guide rail is fixedly connected to the sliding block I, and the horizontal projection of the arc-shaped guide rail extends in the front-and-back direction; the arc-shaped sliding module is installed on the arc-shaped guide rail; the vertical linear module is installed on one side of the arc-shaped sliding module, and a sliding block II moving up and down is arranged on the vertical linear module; the support arm laterally stretches out, and the upper end of the support arm is fixedly connected to the sliding block II; the cradle head is fixedly connected to the lower end of the support arm; the steering engine is rotatably connected with the cradle head; the template and the steering engine are fixedly connected through a rigid connecting part, and an electromagnetic position finder sensing contact, an inclinometer and a proximity switch are installed on the rigid connecting part. The auxiliary automatic positioning mechanism is efficient, precise, safe and convenient to operate.
Description
Technical field
The present invention relates to medical instruments field, belong to the front subject that machinery is intersected with medical science radiotherapy field, be a kind of using
In extracranial tumors seeds implanted radiocurable self-oscillate position auxiliary device.
Background technology
In the treatment of extracranial tumors, as a kind of important therapeutic modality, radiotherapy is increasingly taken seriously.Radiotherapy
Process is to irradiate neoplastic lesion tissue by various high-energy rays, with the Therapeutic Method reaching suppression and kill cancerous cell.Existing rank
The radiotherapy tumor of section, according to its different mode, can be divided into remote radiotherapy and brachytherapy.Put at a distance
Treatment is, by roentgenotherapia machine etc., to body surface or in-vivo tumour position, ray focusing is carried out short irradiation outside human body, with
Play the effect killing tumor cell, the therapeutic modality of representative is external exposure.Brachytherapy is then to be leaned on by radionuclide
Nearly tumor locus, rely primarily on gamma-rays suppression, killing tumor cell, and the therapeutic modality of representative mainly has125I seeds implanted formula
Treatment with192Ir after-loading therapy.
As a kind of brachytherapy treatment meanss, radioactivity125I seeds implanted is applied to clinical treatment by more and more
And achieve extraordinary curative effect.Compared to traditional telecurie irradiation treatment, the radiotherapy of seeds implanted formula has many
Advantage：1) particle, by inside accurate implantation tumour, decreases the radiation injury to normal surrounding tissue for the radionuclide, will not
Cause the possible permanent damage to tissues such as skin surfaces for the such as external exposure.2) because particle is by permanent implanted tumor tissues, because
This its irradiation position is fixing, can move with patient, tumor tissues can be caused persistence injure, curative effect also becomes apparent from.
3) implantation number of particles can change according to patient's concrete condition, has greater flexibility.By controlling number of particles and grain
Sub- position, preferably surrounds therapy area, reaches comparatively ideal radiation dose distribution, therefore complication is less.By each big doctor
Chief minister treats the situation of tumor with radioactive prospecting instrument formula, and the accurate implantation of particle is most important, and it is related to tumor target
Dose distribution, be directly connected to radiotherapy effect.
Current particle implantation method be：By adjusting, manual support is fixing to puncture template, is then passed through template insertion
Particle implanted by puncture needle.During manual regulation, the angular error of template end it is difficult to ensure that, precision is relatively low, in turn results in
Seeds implanted positional precision is relatively low.And the process adjusting manually is very time-consuming.
Content of the invention
The present invention provides a kind of tumor radiotherapy seeds implanted auxiliary certainly for solving technical problem present in known technology
Dynamic detent mechanism, this mechanism can be accurately positioned radiotherapy particle implantation template, and greatly shortens positioning time.
The present invention is adopted the technical scheme that by solving technical problem present in known technology：A kind of tumor radiotherapy grain
Son implantation auxiliary automatic positioning mechanism, include pedestal, level to linear module, arc-shaped guide rail, arc sliding module, vertical to
Linear module, support arm, head, steering wheel and template；Described level is arranged on described pedestal to linear module, in described level
It is provided with along the slider I moving left and right to linear module；The lower end of described arc-shaped guide rail is fixed in described slider I, described arc
The floor projection of shape guide rail extends along the longitudinal direction；Described arc sliding module is arranged on described arc-shaped guide rail；Described vertical
Be arranged on the side of described arc sliding module to linear module, described vertically to linear module on be provided with and vertically move
Slide block II；Described support arm extends laterally, and upper end is fixed on described slide block II；Described head is fixed under described support arm
End；Described steering wheel is connected with described cloud platform rotation；It is affixed, in described rigidity that described template and described steering wheel pass through rigid connector
Electromagnetic location instrument sensor contact, inclinator and proximity switch are provided with connector.
The radian of described arc-shaped guide rail is 90 °, and described pedestal adopts full symmetrical configuration, in the body two of described arc-shaped guide rail
End is respectively connected with a U-shaped plug, an affixed T-shaped socket in described slider I, and described U-shaped plug is inserted on described T-shaped socket simultaneously
Adopt and be tightened by bolts, be provided with handwheel in the head of described bolt.
Described level adopts lead screw guide rails structure to linear module, and described lead screw guide rails structure is using having self-locking thread
Leading screw, described leading screw is arranged in left-right direction, is connected with described slider I on described leading screw, and described leading screw is driven by motor I.
Described arc sliding module is arranged on the body of described arc-shaped guide rail, including arc sliding matrix, in described arc
Guide roller and guide runner are fixed with shape slip matrix, described guide roller and described guide runner are equipped with V-groove,
The body of described arc-shaped guide rail is provided with the slide rail being adapted to described V-groove and tooth bar, and described guide roller and described guiding are slided
Block is assemblied on described slide rail by described V-groove, is engaged with gear on described tooth bar, and described gear is driven by motor II,
Described motor II and described gear are installed on described arc sliding matrix, are provided with band-type brake module on described motor II.
Described support arm adopts engraved structure, and adopts aluminum alloy material.
The present invention has the advantages and positive effects that：Using high accuracy motor coordinate corresponding locking system and
Self-locking structure, it is possible to achieve while putting in place in high precision, facilitates structure latches, enhances integrally-built safety.Structure is adopted
With 90 ° of arc-shaped guide rails one side configurations, closer in patient body-surface, and utilize symmetrical structure, by operated by handwheel, conveniently tear open
Dress, it is achieved that the bilateral installation of mechanism is in place, has expanded the working range of mechanism, so that the effect for the treatment of maximizes.Mechanism
The mould material of end adopts the compatible Merlon of CT, this kind of material transparent simultaneously, facilitates during surgical to entering pin
The observation of situation.The base construction of mechanism is symmetrical, capable of reversing be clamped in CT and connect bed both sides, in implementing operation process, can be with trouble
Person, sick bed enter CT scan tract together and take multiple scan.The rotary freedom of end adopts servo driving, is mitigating mechanism
While weight, substantially reduce mechanism and take up room.In sum, the present invention is efficient, accurate, conveniently, safely clinical grasps
Make.
Brief description
Fig. 1 is the structural representation of the present invention；
Fig. 2 is arc sliding module and the arc-shaped guide rail assembling schematic diagram of the present invention；
Fig. 3 is the arc sliding module of the present invention and the schematic internal view of arc-shaped guide rail assembling；
Fig. 4 is that the end structure of the present invention refines schematic diagram.
In figure：1st, pedestal, 2-1, motor I, 2-2, slider I, 2-3, T-shaped socket, 2-4, leading screw, 3, handwheel, 4-1, body,
4-2, U-shaped plug, 4-3, slide rail, 4-4, tooth bar, 5-1, arc sliding matrix, 5-2, guide roller, 5-3, guide runner, 5-4,
Gear, 5-5, motor II, 6-1, slide block II, 7, support arm, 8, head, 9, steering wheel, 10, rigid connector, 11, template.
Specific embodiment
For content of the invention, feature and effect of the present invention can be further appreciated that, hereby enumerate following examples, and coordinate accompanying drawing
Describe in detail as follows：
Refer to Fig. 1～Fig. 4, a kind of tumor radiotherapy seeds implanted assists automatic positioning mechanism, including pedestal 1, level to
Linear module, arc-shaped guide rail, arc sliding module, vertically to linear module, support arm 7, head 8, steering wheel 9 and template 11.
Described pedestal 1 is arranged on CT using mounting screw and connects on the bed board of bed, and pedestal 1 adopts full symmetrical configuration, can be by
It is arranged on left side or the right side that CT connects bed according to job requirement, the bilateral work pendulum position realizing mechanism is it is ensured that this mechanism can be in CT
Even the left and right sides of bed is freely fixed, and increases the work space of mechanism.
Described level is arranged on described pedestal 1 to linear module, is provided with along left and right on described level is to linear module
Slider I 2-2 of movement；Described level to linear module adopt lead screw guide rails structure, described lead screw guide rails structure using have from
The leading screw 2-4 of lock screw thread, described leading screw 2-4 is arranged in left-right direction, is connected with described slider I 2-2 on described leading screw 2-4,
Described leading screw 2-4 is driven by motor I 2-1, drives this mechanism to realize the adjustment of left and right degree of freedom, when adjusting to operating position,
The self-locking thread that level can rely on leading screw to linear module realizes self-locking, fixed position.
The radian of described arc-shaped guide rail is 90 °, and the lower end of described arc-shaped guide rail is fixed in described slider I 2-2, described arc
The floor projection of shape guide rail extends along the longitudinal direction.
Described arc-shaped guide rail with the built-in structure of described slider I 2-2 is：Each at the body 4-1 two ends of described arc-shaped guide rail
It is connected with a U-shaped plug 4-2, an affixed T-shaped socket 2-3 in described slider I 2-2, U-shaped plug 4-2 are inserted in T-shaped socket 2-3
Go up and adopt and be tightened by bolts, be provided with handwheel 3 in the head of described bolt.This structure can quickly realize the commutation of arc-shaped guide rail,
During commutation, now unclamp bolt, take off described arc-shaped guide rail, then pedestal 1 is moved to the opposite side that CT connects bed, by described arc
Guide rail two ends overturn is arranged on T-shaped socket 2-3, and then realize this mechanism all installable work in the sick bed left and right sides will
Ask, realize the bilateral job requirement of this mechanism, and widened the patient of below arc-shaped guide rail and lie bit space so as to be easier to face
Bed operation.
Described arc sliding module is arranged on the body 4-1 of described arc-shaped guide rail, including arc sliding matrix 5-1,
Guide roller 5-2 and guide runner 5-3, described guide roller 5-2 and described guiding are fixed with described arc sliding matrix 5-1
Slide block 5-3 is equipped with V-groove, is provided with the slide rail 4-3 being adapted to described V-groove and tooth on the body 4-1 of described arc-shaped guide rail
Bar 4-4, described guide roller 5-2 and described guide runner 5-3 are assemblied on described slide rail 4-3 by described V-groove, described
Gear 5-4 is engaged with tooth bar 4-4, described gear 5-4 is driven by motor II 5-5, described motor II 5-5 and described gear 5-4
It is installed on described arc sliding matrix 5-1, described motor II 5-5 is provided with band-type brake module, mechanism can be made in fixed bit
Appearance locks.Described motor II 5-5 drives described arc sliding module along the body 4-1 slip of described arc-shaped guide rail.
The described side being vertically arranged on described arc sliding module to linear module, described vertically to linear module and institute
Level of stating is identical to linear modular structure, and arranged direction is different, provides the degree of freedom of above-below direction for mechanism, described vertically to
Linear module is provided with slide block II 6-1 vertically moving.
Described support arm 7 extends laterally, and upper end is fixed on described slide block II 6-1.Described support arm 7 adopts hollow out to tie
Structure, and adopt aluminum alloy material, mechanism end can be greatly decreased and carry.
Described head 8 is fixed in the lower end of described support arm 7.
Described steering wheel 9 is rotated with described head 8 and is connected, and provides deflection degree of freedom for template 11.
Described template 11 and described steering wheel 9 are affixed by rigid connector 10, are provided with described rigid connector 10
Electromagnetic location instrument sensor contact, inclinator and proximity switch.Proximity switch ensure that mechanism close to human body when safety, incline
Angle instrument can feed back the work inclination angle of template, and electromagnetic location instrument can Real-time Feedback template pose；These sensors can effectively ensure that
The positioning of mechanism, pendulum position precision.
Above-mentioned tumor radiotherapy seeds implanted auxiliary automatic positioning mechanism has altogether four degree of freedom, can fully achieve mould
The work pendulum position of plate 11 requires.Template 11 adopts makrolon material, this kind of material transparent, observes during facilitating surgical
Enter pin situation, and CT can completely compatible this kind of material, the requirement being scanned at any time in operation process can be met.With
On the rigid connector that steering wheel 9 end connects, inclinator, proximity switch and electromagnetic location instrument sensor contact, inclinator are installed
For the inclination angle situation of detection template, determine that transplanting pin enters after pin angle by doctor, steering wheel 9 is determined according to template inclination angle situation
The anglec of rotation, thus carry out the adjustment of template deflection angle；Meanwhile, proximity switch can when template 9 is close to patient body-surface to
Control system sending signal, makes control system send alarm and control corresponding motor, steering wheel to slow down, reaches the work of security protection
With；Electromagnetic location instrument sensor contact according to the pose of the coordinates feedback template demarcated, can carry out the pendulum position adjustment of template in time.When
When every pose adjustment makes template pendulum position reach specified location, motor stall, band-type brake are held tightly, and the pose of template is fixed, doctor
The operation puncturing work of next step can be carried out.
In terms of material, for meeting lighting requirement, the big multiple component of this mechanism adopts aluminum alloy materials, other related work(
Engineering plastics etc. can be adopted to manufacture according to actual operation requirements by property part.Overall structure is passed through three servomotors and is realized respectively sitting
Mark system X, Y, the pendulum position of Z-space point position are fixed, and rely on steering wheel to realize deflection, have four degree of freedom, can meet face completely
Bed demand.Portability in order to realize mechanism's design requires, and mechanism employs 90 ° of designed arc-shaped appearances, but can by easily installing
To realize the fixation in the CT bed left and right sides for the mechanism, thus reaching omnibearing mechanism's pendulum position, work space is made to be expanded.
During work, above-mentioned tumor radiotherapy seeds implanted auxiliary automatic positioning mechanism can connect bed with CT and freely enter
Go out CT tract, in achievable operation in patients, real-time focus scanning, has very big motility.
Realizing radioactive particle125It is necessary first to pass through patient negative during the minimally-invasive treatment of I implantation within a patient
Pad of calming the anger is fixed on CT and connects on bed, then using electromagnetic location instrument, patient's pendulum position is demarcated, determines patient in coordinate system
Position.Then patient is carried out with CT scan, defines tumor target, determine lesions position.Doctor is to the transplanting piercing tumor region
Pin carries out pre-planning, now determines piercing angle, position and the needle track number of transplanting pin.Subsequently mould is determined according to pre-planning
Plate, in the pendulum position position of patient body-surface, this detent mechanism is installed on CT and connects on bed, by electromagnetic location instrument to this detent mechanism
Carry out location position.Control system calculates to relative position coordinates, transmission data, makes motor and steering wheel rotate respective corners
Degree, finally makes detent mechanism carry template and reaches area for treatment, and band-type brake is fixed.In operation process, doctor can be by fixing
Needle track through hole in template implants transplanting pin to tumor tissues, then passes through the hollow transplanting pin in middle part and puts to tumor tissues implantation
Penetrating property particle125I implements treatment.
Although being described to the preferred embodiments of the present invention above in conjunction with accompanying drawing, the invention is not limited in
The specific embodiment stated, above-mentioned specific embodiment is only schematically, is not restricted, this area common
Technical staff, under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection, also may be used
To make a lot of forms, these belong within protection scope of the present invention.
Claims (5)
1. a kind of tumor radiotherapy seeds implanted auxiliary automatic positioning mechanism is it is characterised in that include pedestal, level to linear mould
Group, arc-shaped guide rail, arc sliding module, vertically to linear module, support arm, head, steering wheel and template；Described level is to linear
Module is arranged on described pedestal, is provided with along the slider I moving left and right on described level is to linear module；Described arc-shaped guide rail
Lower end be fixed in described slider I, the floor projection of described arc-shaped guide rail extends along the longitudinal direction；Described arc sliding module
It is arranged on described arc-shaped guide rail；The described side being vertically arranged on described arc sliding module to linear module, described perpendicular
Directly it is provided with the slide block II vertically moving to linear module；Described support arm extends laterally, and upper end is fixed in described slide block II
On；Described head is fixed in the lower end of described support arm；Described steering wheel is connected with described cloud platform rotation；Described template and described rudder
It is affixed that machine passes through rigid connector, is provided with electromagnetic location instrument sensor contact, inclinator and close on described rigid connector
Switch.
2. tumor radiotherapy seeds implanted according to claim 1 auxiliary automatic positioning mechanism is it is characterised in that described arc
The radian of guide rail is 90 °, and described pedestal adopts full symmetrical configuration, is respectively connected with one at the body two ends of described arc-shaped guide rail U-shaped
Plug, an affixed T-shaped socket in described slider I, described U-shaped plug is inserted on described T-shaped socket and adopts and is tightened by bolts,
The head of described bolt is provided with handwheel.
3. tumor radiotherapy seeds implanted according to claim 1 auxiliary automatic positioning mechanism is it is characterised in that described level
Adopt lead screw guide rails structure to linear module, described lead screw guide rails structure is using the leading screw with self-locking thread, described leading screw edge
Left and right directions is arranged, and is connected with described slider I, described leading screw is driven by motor I on described leading screw.
4. tumor radiotherapy seeds implanted according to claim 1 auxiliary automatic positioning mechanism is it is characterised in that described arc
Sliding module is arranged on the body of described arc-shaped guide rail, including arc sliding matrix, is fixedly mounted with described arc sliding matrix
Guide roller and guide runner, described guide roller and described guide runner is had to be equipped with V-groove, in the basis of described arc-shaped guide rail
Body is provided with the slide rail being adapted to described V-groove and tooth bar, and described guide roller and described guide runner are filled by described V-groove
Fit on described slide rail, described tooth bar is engaged with gear, described gear is driven by motor II, described motor II and described tooth
Wheel is installed on described arc sliding matrix, is provided with band-type brake module on described motor II.
5. tumor radiotherapy seeds implanted according to claim 1 auxiliary automatic positioning mechanism is it is characterised in that described support
Arm adopts engraved structure, and adopts aluminum alloy material.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610925350.8A CN106422043A (en) | 2016-10-30 | 2016-10-30 | Auxiliary automatic positioning mechanism for tumor radiotherapy seed implantation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610925350.8A CN106422043A (en) | 2016-10-30 | 2016-10-30 | Auxiliary automatic positioning mechanism for tumor radiotherapy seed implantation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108392253A (en) * | 2018-03-21 | 2018-08-14 | 天津大学 | A kind of console mode tumour radiotherapy seeds implanted treatment automatic puncturing device |
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| CN206534993U (en) * | 2016-10-30 | 2017-10-03 | 天津大学 | A kind of tumor radiotherapy seeds implanted aids in automatic positioning mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108392253A (en) * | 2018-03-21 | 2018-08-14 | 天津大学 | A kind of console mode tumour radiotherapy seeds implanted treatment automatic puncturing device |
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Application publication date: 20170222 |