CN106806983A - A kind of intelligent prostate seeds implanted device - Google Patents
A kind of intelligent prostate seeds implanted device Download PDFInfo
- Publication number
- CN106806983A CN106806983A CN201710181328.1A CN201710181328A CN106806983A CN 106806983 A CN106806983 A CN 106806983A CN 201710181328 A CN201710181328 A CN 201710181328A CN 106806983 A CN106806983 A CN 106806983A
- Authority
- CN
- China
- Prior art keywords
- slide bar
- support
- leading screw
- lowering
- lifting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
The present invention relates to prostate medical robot field, and in particular to a kind of intelligent prostate seeds implanted device.The device volume is small, compact conformation, it is easy to use, eliminate guiding die plate；Platform is driven to realize the three-dimensional space motion of implant needle by three-dimensional, make its structure and motion more stable using frame structure and Auxiliary support motion platform, prevent power-off from falling using vertical falling proof device, vertical direction electromagnetism cohesion device is used simultaneously, and holding slide bar tightly when moving and stopping makes it more stable when needle movement is entered.
Description
Technical field
The present invention relates to prostate medical robot field, and in particular to a kind of intelligent prostate seeds implanted device.
Background technology
Prostate cancer is one of big tumour of urinary system three, and its incidence of disease is presented obvious sustainable growth trend in recent years, sternly
Ghost image rings China's men's health.The appearance that prostate seeds implanted is intelligently equipped can greatly facilitate the treatment of prostate cancer.If
Count that a positioning precision is high, the reliable prostate seeds implanted device of structural stability is of crucial importance.
The content of the invention
The present invention is a kind of intelligent prostate seeds implanted device, and it is filled by framework, lowering or hoisting gear, Traverse Displacement Unit, inserting needle
Put and drive vertical, the transverse shifting into needle device, auxiliary branch respectively with auxiliary support apparatus composition, lowering or hoisting gear and Traverse Displacement Unit
Support arrangement Auxiliary support inserting needle device lateral, lifting moving, enter needle device and realize acupuncture treatment control.Described Traverse Displacement Unit is by transverse direction
Slide bar, encoder A, leading screw A, bearing A, shaft coupling A, stepper motor A, horizontal slide unit composition, wherein horizontal sliding bar are supported and led
To the movement of slide unit, stepper motor A connects leading screw A and realizes that horizontal slide unit moves control by shaft coupling A, and encoder A is transported
The feedback of dynamic displacement；Described bearing A realizes the connection of Traverse Displacement Unit and framework.
Further, described lowering or hoisting gear is by stepper motor B, bearing B, leading screw B, lifting sliding table, lifting slide bar, coding
Device B is constituted；Described lifting sliding table constitutes anti-fall mechanism with lifting slide bar, and lifting slide bar presses rod design, inside lifting sliding table
Structure is designed by slide unit, wherein screw, spring, ball composition friction pretightning force regulation dress, by screw adjustable up-down slide unit
With the frictional force between lifting slide bar, and then anti-drop function is realized；Described bearing B realizes the company of lowering or hoisting gear and Traverse Displacement Unit
Connect；Auxiliary support apparatus are slid laterally body, assistance for lifting slide unit, assistance for lifting slide bar and are constituted by auxiliary horizontal sliding bar, auxiliary, its
It is provided with the anti-fall mechanism same with lowering or hoisting gear.
Further, the described needle device that enters is driven by attachment means A, attachment means B, interior pin drive block, interior pin, outer pin
Block, outer pin, interior pin drive leading screw, outer pin to drive leading screw, slide bar B, supporting plate A, bearing C, shaft coupling B, stepper motor C, bearing
D, encoder C, sleeve pipe, support A, support B, supporting plate B compositions, it passes through attachment means A and is connected with auxiliary support apparatus, passes through
Attachment means B is connected with lowering or hoisting gear, and supporting plate A, support A, support B, supporting plate B are fixed on slide bar B, and stepper motor C consolidates
Be scheduled on supporting plate A, support A, support B fix supporting sleeve, stepper motor C by shaft coupling B connect in pin drive leading screw or
Outer pin drives leading screw to drive interior pin drive block or outer pin drive block to realize acupuncture treatment control, and movement position is realized by encoder C
Feedback.
Further, described attachment means A and B is made up of connector, forced locking device, cover plate, described
Forced locking device is made up of inner sleeve, overcoat, spring, electromagnet, soket head cap screw, and brake pad is carried wherein in inner sleeve, described
Electromagnet drive overcoat, and then cause overcoat shrink inner sleeve, make its hold tightly slide bar, reach fixed effect.
Beneficial effects of the present invention are：The intellectuality that the present invention realizes prostate seeds implanted pin locus is accurate fixed
Position, makes seeds implanted more convenient, and Stability Analysis of Structures is compact.
Brief description of the drawings：
Fig. 1 is prostate seeds implanted device overall schematic；
Fig. 2 is prostate seeds implanted device lowering or hoisting gear schematic diagram；
Fig. 3 is that prostate seeds implanted device enters needle device and lowering or hoisting gear connection diagram；
Fig. 4 is prostate seeds implanted device inserting needle schematic device；
Fig. 5 is prostate seeds implanted device electromagnetism cohesion device position view；
Fig. 6 is prostate seeds implanted device electromagnetism cohesion device structural representation；
Fig. 7 is prostate seeds implanted device Anti-falling structure schematic diagram；
1- frameworks in figure, 2- horizontal sliding bars, 3- encoders A, 4- lowering or hoisting gear, 5- leading screws A, 6- bearing A, 7- shaft coupling A, 8- step
Stepper motor A, 9- enter needle device, and 10- auxiliary horizontal sliding bars, 11- auxiliary slides laterally body, 12- assistance for lifting slide units, 13- connections
Device A, 14- assistance for lifting slide bar, 15- stepper motors B, 16- bearing B, 17- horizontal slide unit, 18- leading screws B, 19 lifting sliding tables,
20- lifts slide bar, 21- encoders B, 22- attachment means B, pin drive block in 23-, pin in 24-, the outer pin drive blocks of 25-, outside 26-
Pin, pin driving leading screw in 27-, the outer pin driving leading screws of 28-, 29- slide bars B, 30- supporting plate A, 31- bearing C, 32- shaft coupling B,
33- stepper motors C, 34- bearing D, 35- encoder C, 36- sleeve pipe, 37- supports A, 38- support B, 39- supporting plate B, 40- connection
Body, 41- forced locking devices, 42- cover plates, 43- inner sleeves, 44- overcoats, 45- springs, 46- electromagnets, 47- soket head cap screws,
48- slide units, 49- screws, 50- springs, 51- slide bars, 52- balls.
Specific embodiment：
Framework 1 is fixed on Surgery Platform, the connection that Traverse Displacement Unit passes through bearing A6 and horizontal sliding bar 2 and framework 1, by bearing
B16 is connected with lowering or hoisting gear；Auxiliary support apparatus are connected by horizontal sliding bar 10 with framework 1, by attachment means B22 and inserting needle
Device is connected, and is realized by attachment means A13, slide bar B29 and attachment means B22 synchronous with traversing, lowering or hoisting gear motion；Step
Stepper motor A8 connects leading screw A5 and realizes that horizontal slide unit 17 moves control by shaft coupling A7, is laterally moved by encoder A3
The feedback of displacement；Stepper motor B15 controls leading screw B18 realizes the movement control of lifting sliding table 19, is lifted by encoder B21
The feedback of moving displacement；Frictional force between slide unit 48 and slide bar 51 can adjust by screw 49, make its frictional resistance slightly larger than weight
Power, and then prevent power-off from falling；Enter needle device to be connected with lowering or hoisting gear by attachment means B22, supporting plate A30, support A37,
Support B38, supporting plate B39 are fixed on slide bar B29 as motion provides support, and support A37, support B38 fix support set
Pipe 36 is used to constrain and support the motion of pin, and stepper motor C33 connects interior pin and drives leading screw 27 or outer pin to drive by shaft coupling B32
Dynamic leading screw 28 drives interior pin drive block 23 or outer pin drive block 25 to realize acupuncture treatment control, and movement position is realized by encoder C35
Feedback；When forced locking device is locked, electromagnet 46 is powered and drives overcoat 44, and then causes overcoat 44 to shrink inner sleeve 43, makes
It holds slide bar tightly, reaches fixed effect；When forced locking device unclamps, when electromagnet 46 is powered off in the presence of spring 50,
Overcoat 44 and inner sleeve 43 restPose.
Claims (4)
1. the present invention is a kind of intelligent prostate seeds implanted device, it is characterised in that:It is by framework, lowering or hoisting gear, traversing dress
Put, enter needle device and auxiliary support apparatus composition, lowering or hoisting gear and Traverse Displacement Unit drive vertical, the laterally shifting into needle device respectively
Dynamic, auxiliary support apparatus Auxiliary support inserting needle device lateral, lifting moving enter needle device and realize acupuncture treatment control；Described is traversing
Device is by horizontal sliding bar（2）, encoder A（3）, leading screw A（5）, bearing A（6）, shaft coupling A（7）, stepper motor A（8）, it is laterally sliding
Platform（17）Composition, wherein horizontal sliding bar（2）Support and guiding slide unit（17）Movement, stepper motor A（8）By shaft coupling A（7）
Connection leading screw A（5）Realize horizontal slide unit（17）Mobile control, encoder A（3）Carry out the feedback of moving displacement；Described bearing A
（6）Realize Traverse Displacement Unit and framework（1）Connection.
2. a kind of intelligent prostate seeds implanted device according to claim 1, it is characterised in that:Described lowering or hoisting gear
By stepper motor B（15）, bearing B（16）, leading screw B（18）, lifting sliding table（19）, lifting slide bar（20）, encoder B（21）Group
Into；Described lifting sliding table（19）With lifting slide bar（20）Anti-fall mechanism is constituted, slide bar is lifted（20）By slide bar（51）Design, rises
Drop slide unit（19）Internal structure presses slide unit（48）Design, wherein screw（49）, spring（50）, ball（52）Composition friction pretightning force
Regulation dress, by screw adjustable up-down slide unit（19）With lifting slide bar（20）Between frictional force, and then realize anti-drop function；Institute
The bearing B for stating（16）Realize the connection of lowering or hoisting gear and Traverse Displacement Unit；Auxiliary support apparatus are by auxiliary horizontal sliding bar（10）, auxiliary
Slide laterally body（11）, assistance for lifting slide unit（12）, assistance for lifting slide bar（14）Composition, it is provided with same with lowering or hoisting gear anti-
Air crash structure.
3. a kind of intelligent prostate seeds implanted device according to claim 1, it is characterised in that:Described enters needle device
By attachment means A（13）, attachment means B（22）, interior pin drive block（23）, interior pin（24）, outer pin drive block（25）, outer pin
（26）, interior pin drive leading screw（27）, outer pin drive leading screw（28）, slide bar B（29）, supporting plate A（30）, bearing C（31）, shaft coupling
B（32）, stepper motor C（33）, bearing D（34）, encoder C（35）, sleeve pipe（36）, support A（37）, support B（38）, supporting plate
B（39）Composition, it passes through attachment means A（13）It is connected with auxiliary support apparatus, by attachment means B（22）Connect with lowering or hoisting gear
Connect, supporting plate A（30）, support A（37）, support B（38）, supporting plate B（39）It is fixed on slide bar B（29）On, stepper motor C（33）
It is fixed on supporting plate A（30）On, support A（37）, support B（38）Fixed supporting sleeve（36）, stepper motor C（33）By shaft coupling
Device B（32）Pin drives leading screw in connection（27）Or outer pin drives leading screw（28）Pin drive block in driving（23）Or outer pin drive block
（25）Acupuncture treatment control is realized, by encoder C（35）Realize the feedback of movement position.
4. a kind of intelligent prostate seeds implanted device according to claim 1, it is characterised in that:Described attachment means
A（13）And B（22）All it is by connector（40）, forced locking device（41）, cover plate（42）Composition, described forced locking device
（41）By inner sleeve（43）, overcoat（44）, spring（45）, electromagnet（46）, soket head cap screw（47）Composition, wherein inner sleeve（43）On
With brake pad, described electromagnet（46）Drive overcoat（44）, and then cause overcoat（44）Shrink inner sleeve（43）, hold it tightly
Slide bar, reaches fixed effect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710181328.1A CN106806983A (en) | 2017-03-24 | 2017-03-24 | A kind of intelligent prostate seeds implanted device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710181328.1A CN106806983A (en) | 2017-03-24 | 2017-03-24 | A kind of intelligent prostate seeds implanted device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106806983A true CN106806983A (en) | 2017-06-09 |
Family
ID=59115367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710181328.1A Pending CN106806983A (en) | 2017-03-24 | 2017-03-24 | A kind of intelligent prostate seeds implanted device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106806983A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1077283A (en) * | 1993-03-12 | 1993-10-13 | 浙江大学 | Electromagnetic self-balancing head |
| CN202266549U (en) * | 2011-10-20 | 2012-06-06 | 珠海宜心家居有限公司 | Article hanging device |
| CN204416837U (en) * | 2015-01-04 | 2015-06-24 | 温岭市华广建设有限公司 | Fall arrest construction elevator |
| CN204951933U (en) * | 2015-09-21 | 2016-01-13 | 哈尔滨理工大学 | Device is implanted to electronic radioactivity treatment particle |
| CN105727431A (en) * | 2016-01-29 | 2016-07-06 | 哈尔滨理工大学 | TRUS image navigation multichannel prostate close-range radioactive seed implantation robot |
| CN207640801U (en) * | 2017-03-24 | 2018-07-24 | 哈尔滨理工大学 | A kind of prostate seeds implanted device |
-
2017
- 2017-03-24 CN CN201710181328.1A patent/CN106806983A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1077283A (en) * | 1993-03-12 | 1993-10-13 | 浙江大学 | Electromagnetic self-balancing head |
| CN202266549U (en) * | 2011-10-20 | 2012-06-06 | 珠海宜心家居有限公司 | Article hanging device |
| CN204416837U (en) * | 2015-01-04 | 2015-06-24 | 温岭市华广建设有限公司 | Fall arrest construction elevator |
| CN204951933U (en) * | 2015-09-21 | 2016-01-13 | 哈尔滨理工大学 | Device is implanted to electronic radioactivity treatment particle |
| CN105727431A (en) * | 2016-01-29 | 2016-07-06 | 哈尔滨理工大学 | TRUS image navigation multichannel prostate close-range radioactive seed implantation robot |
| CN207640801U (en) * | 2017-03-24 | 2018-07-24 | 哈尔滨理工大学 | A kind of prostate seeds implanted device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205685336U (en) | Large-scale four axis robot | |
| CN106963381B (en) | A kind of nuclear magnetic resonance medical diagnosis moving bed | |
| CN111803368A (en) | Traditional chinese medical science is recovered with multi-functional acupuncture device | |
| CN106806983A (en) | A kind of intelligent prostate seeds implanted device | |
| CN112451249B (en) | Medical bed with auxiliary rehabilitation device | |
| CN205526520U (en) | Turning device and assembly line | |
| CN205251889U (en) | Support is used in nursing of surgery wound | |
| CN105250093B (en) | A kind of automation rehabilitation care bed driven by linear motor | |
| CN205144745U (en) | Otolaryngology passes a sentence special tray | |
| CN110123580A (en) | A kind of tail end traction type upper limb healing platform | |
| CN106667702A (en) | Novel multifunctional lifting operation-transferring medical bed | |
| CN207640801U (en) | A kind of prostate seeds implanted device | |
| CN104188774A (en) | Multifunctional electric sickbed | |
| CN101991494A (en) | Nursing bed with function of hoisting integrally and hoisting method | |
| CN106002984B (en) | Articulated arm manipulator | |
| CN211985966U (en) | Patient transferring cart convenient for getting on and off bed and avoiding falling down from bed | |
| CN204050108U (en) | Multifunctional motor-driven sick bed | |
| RU2509550C2 (en) | Transportation stand for leukofiltration of blood and its components | |
| CN215607347U (en) | Exoskeleton type upper limb rehabilitation robot | |
| CN114797013A (en) | Automatic follow-up auxiliary walking rehabilitation wheel type mobile robot device | |
| CN208393390U (en) | A kind of oxygen cylinder transporting supports with lift stabilizing mechanism | |
| CN213553401U (en) | Upper limb rehabilitation training device | |
| CN108524188B (en) | Limb rehabilitation training device | |
| CN201894710U (en) | Integral lifting nursing bed | |
| CN204890499U (en) | Seat elevating gear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170609 |
|
| RJ01 | Rejection of invention patent application after publication |