CN107929957A - A kind of puncture positioning device and the prostate radiation therapy bed with the puncture positioning device - Google Patents
A kind of puncture positioning device and the prostate radiation therapy bed with the puncture positioning device Download PDFInfo
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- CN107929957A CN107929957A CN201711377504.5A CN201711377504A CN107929957A CN 107929957 A CN107929957 A CN 107929957A CN 201711377504 A CN201711377504 A CN 201711377504A CN 107929957 A CN107929957 A CN 107929957A
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- 210000002307 prostate Anatomy 0.000 title claims abstract description 26
- 238000001959 radiotherapy Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 74
- 230000001225 therapeutic effect Effects 0.000 claims description 14
- 230000003028 elevating effect Effects 0.000 claims description 13
- 230000004807 localization Effects 0.000 abstract description 17
- 230000002285 radioactive effect Effects 0.000 abstract description 12
- 239000002245 particle Substances 0.000 abstract description 7
- 208000027418 Wounds and injury Diseases 0.000 abstract description 6
- 230000006378 damage Effects 0.000 abstract description 6
- 208000014674 injury Diseases 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 description 13
- 206010060862 Prostate cancer Diseases 0.000 description 3
- 208000000236 Prostatic Neoplasms Diseases 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000002725 brachytherapy Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000002513 implantation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 201000001514 prostate carcinoma Diseases 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000001574 biopsy Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 208000023958 prostate neoplasm Diseases 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/009—Physiotherapeutic tables, beds or platforms; Chiropractic or osteopathic tables
-
- 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
- A61N5/1014—Intracavitary radiation therapy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
-
- 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
- A61N2005/1009—Apparatus for loading seeds into magazines or needles
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Biophysics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
The present invention is suitable for technical field of medical equipment, discloses a kind of puncture positioning device and the prostate radiation therapy bed with the puncture positioning device.Puncture positioning device, including piercing mechanism and the orientation for adjusting piercing mechanism detent mechanism, piercing mechanism is connected to detent mechanism, piercing mechanism include arched arm, be connected to arched arm and can arcuately the first sliding block of arm arc sliding, be connected to the first sliding block and arcuately arm radially set puncturing guide rail, be slidably connected to the punctures sliding block of puncturing guide rail, be connected to puncture sliding block lancet and means, lancet and means arcuately arm radial direction setting.Prostate radiation therapy bed has a kind of above-mentioned puncture positioning device.A kind of puncture positioning device provided by the present invention and the prostate radiation therapy bed with the puncture positioning device, preoperative Needle localization time is short, Needle localization precision is high, can realize multi-angle inserting needle, and operating efficiency is high, operating time is short, avoids radioactive particle from having doctor and produces radioactive ray injury.
Description
Technical field
The invention belongs to technical field of medical equipment, more particularly to a kind of puncture positioning device and with Needle localization dress
The prostate radiation therapy bed put.
Background technology
In the recent period in the statistics of carcinoma of prostate global incidence, carcinoma of prostate is the most commonly seen malignant tumour of male
One of.With China's expanding economy, living-pattern preservation, prostate-cancer incidence is higher and higher, and people are also more next to it
More pay attention to.The therapeutic modality of prostate cancer mainly has radical excision and plesioradiotherapy, wherein seeds implanted at present
Closely radiation is for most effective and safest treatment method.Current medical prostate close-range treatment pricking device is main
It is by virtue of experience manually to puncture particle by doctor to be put into tumor of prostate area, which positioning accuracy is low, operation risk is big,
Operating time is grown, and radioactive particle has doctor certain radioactive ray injury.In addition, patent CN201520228284.X is related to
A kind of ultrasonic guidance automatic prostate biopsy seeds implanted system, lancet and means are installed on the locating platform of six degree of freedom,
It can realize and inserting needle is punctured with parallel or any angle of taper；But need to adjust puncture portion when adjusting puncture needle inserting needle posture
Part, due to the larger quality of lancet and means volume, motion positions control stability is poor, and positioning accuracy is low.Adjustment puncture needle every time
Inserting needle posture when need to coordinate multiple motive positions to adjust, cause to complete that puncture speed is slower, and efficiency is low.
CN201520712106.4 is related to a kind of CT Needle localizations bed, is designed by planer-type slide, and piercing mechanism can realize 5 freely
Motion control is spent, although the design structure is single, motion control is simple, and puncture angle can only adjust in vertical plane, no
It can realize multi-pose inserting needle mode.
To sum up, medical prostate short-distance treatment equipment is primarily present that kinetic stability is poor, preoperative Needle localization is accurate at present
The standby time is long, Needle localization precision is low, it is single to puncture spatial attitude, it is impossible to the problems such as realizing multi-angle inserting needle.
The content of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, there is provided a kind of puncture positioning device and with should
The prostate radiation therapy bed of puncture positioning device, its preoperative Needle localization time is short, Needle localization precision is high, punctures space appearance
State is adjustable, and dimension is big, it is possible to achieve multi-angle inserting needle, and operating efficiency is high, operating time is short, avoids radioactive particle to doctor
Have and produce radioactive ray injury.
The technical scheme is that：A kind of puncture positioning device, including piercing mechanism and for adjusting the puncture machine
The detent mechanism in the orientation of structure, the piercing mechanism are connected to the detent mechanism, and the piercing mechanism includes arched arm, connection
In the arched arm and can along the arched arm arc sliding the first sliding block, be connected to first sliding block and along the arc
The puncturing guide rail of arm radial direction setting, be slidably connected to the puncture sliding block of the puncturing guide rail, be connected to wearing for the puncture sliding block
Component is pierced, the lancet and means are set along the radial direction of the arched arm.
Alternatively, the lancet and means include being connected to the puncture actuator of the puncture sliding block and are connected to the puncture
The puncture needle of actuator, and the puncture needle is directed to the corresponding center of circle of arched arm, the puncture actuator is for driving
State the rotary drive of puncture needle.
Alternatively, the piercing mechanism further includes contiguous block, and first sliding block is connected to the inner arc side of the arched arm,
The outer arc Slideslip of the arched arm is connected to the contiguous block.
Alternatively, the detent mechanism includes the first articulated arm, second joint bar and the 3rd articulated arm, first joint
One end of bar is rotationally connected with one end of the second joint bar, and the other end of the second joint bar is rotationally connected with described
One end of three articulated arms, the other end of the 3rd articulated arm are rotationally connected with the contiguous block.
Alternatively, opposite 3rd articulated arm of rotary middle spindle between the contiguous block and the 3rd articulated arm with
Rotary middle spindle between the second joint bar is vertical.
Alternatively, the opposite second joint of rotary middle spindle between the 3rd articulated arm and the second joint bar
Rotary middle spindle between bar and first articulated arm is parallel.
Alternatively, the detent mechanism further includes therapeutic bed and base mechanism, and the bottom of the therapeutic bed is provided with lifting
Mechanism, first articulated arm are connected with supporting mechanism；The supporting mechanism include be connected to the elevating mechanism supporting rack,
It is connected to the crossbeam of support frame as described above and is connected to the overarm of the crossbeam, the overarm is set perpendicular to the crossbeam, and institute
The one end for stating overarm is slidably connected to the crossbeam, and first articulated arm is longitudinally disposed and perpendicular to the overarm, and described
The lower slide of one articulated arm is connected to the overarm.
Alternatively, the elevating mechanism includes outer shaft and lifting shaft, and the outer shaft is placed on the lifting shaft, the branch
Support is fixedly connected on the both sides of the outer shaft, and the upper end of the lifting shaft is connected to the therapeutic bed.
Alternatively, the base mechanism includes chassis and is arranged at the movable pulley of the tray bottom, and the outer shaft is consolidated
Due on the chassis.
Present invention also offers a kind of prostate radiation therapy bed, the prostate radiation therapy bed has a kind of above-mentioned Needle localization
Device.
A kind of puncture positioning device provided by the present invention and the prostate radiation therapy bed with the puncture positioning device, puncture
Guide rail can the radial direction of arcuately arm set and be directed to the corresponding center of circle of arched arm, the lancet and means are along the arched arm
Radially set, lancet and means can be directed to the corresponding center of circle of arched arm, and lancet and means are on the radius of arched arm, the first sliding block
Arcuately during arm arc sliding, lancet and means can also remain pointing to the center of circle corresponding in arched arm, keep target point and the center of circle
Overlap, you can so that lancet and means arbitrary motion on circular arc all points to the center of circle, can realize Needle localization precision height and energy
Many attitude punctures mode inserting needle, and kinetic stability is good, can first pass through detent mechanism and quickly adjust lancet and means to conjunction
Suitable position, preoperative Needle localization time is short, Needle localization precision is high, the puncture adjustable dimension of spatial attitude is big, Ke Yishi
Existing multi-angle inserting needle, and operating efficiency is high, operating time is short, avoids radioactive particle from having doctor and produces radioactive ray injury.
Brief description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the schematic perspective view of a kind of puncture positioning device or prostate radiation therapy bed provided in an embodiment of the present invention；
Fig. 2 is the floor map of a kind of puncture positioning device or prostate radiation therapy bed provided in an embodiment of the present invention；
Fig. 3 is a kind of solid of detent mechanism in puncture positioning device or prostate radiation therapy bed provided in an embodiment of the present invention
Schematic diagram；
Fig. 4 is a kind of solid of lancet and means in puncture positioning device or prostate radiation therapy bed provided in an embodiment of the present invention
Schematic diagram.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It should be noted that when element is referred to as " being fixed on " or " being arranged at " another element, it can be directly another
On one element or it may be simultaneously present centering elements.When an element is known as " being connected to " another element, it can
To be directly to another element or may be simultaneously present centering elements.
Only it is relative concept each other it should also be noted that, the orientation term such as left and right, upper and lower in the embodiment of the present invention
Or using the normal operating condition of product as reference, and should not be regarded as restrictive.
As shown in Figures 1 to 4, a kind of puncture positioning device provided in an embodiment of the present invention, the grain available for prostate cancer
Son implantation, including piercing mechanism 4 and the detent mechanism 3 in the orientation for adjusting piercing mechanism 4, piercing mechanism 4 are connected to positioning
Mechanism 3, the height and position, horizontal level and angle of piercing mechanism 4 can be adjusted by detent mechanism 3, so that piercing mechanism 4 is adjusted
Whole to suitable posture.Piercing mechanism 4 includes arched arm 42 (also referred to as c-type arc C-arm), is connected to arched arm 42 and can be along arc
First sliding block 43 of 42 arc sliding of shape arm, be connected to the first sliding block 43 and puncturing guide rail 44 that arcuately arm 42 is radially set,
It is slidably connected to the puncture sliding block 45 of puncturing guide rail 44, is connected to the lancet and means for puncturing sliding block 45, lancet and means can be by grain
Sub precisely implantation within a patient designated position.Puncturing guide rail 44 can the radial direction of arcuately arm 42 set and be directed to arched arm 42
The corresponding center of circle, the radial direction of lancet and means arcuately arm 42 are set, and lancet and means can be directed to the 42 corresponding center of circle of arched arm,
Lancet and means on the radius of arched arm 42, the first sliding block 43 arcuately 42 arc sliding of arm when, lancet and means can also be kept
The 42 corresponding center of circle of arched arm is directed to, keeps target point to be overlapped with the center of circle, you can so that lancet and means are arbitrarily transported on circular arc
It is dynamic to all point to the center of circle, it can realize that Needle localization precision is high and energy many attitude punctures mode inserting needle, and kinetic stability is good,
Detent mechanism 3 can be first passed through quickly to adjust lancet and means to suitable position, preoperative Needle localization time is short, punctures
Positioning accuracy is high, it is big to puncture the adjustable dimension of spatial attitude, it is possible to achieve multi-angle inserting needle, and operating efficiency is high, operating time is short,
Avoid radioactive particle from having doctor and produce radioactive ray injury.
Alternatively, lancet and means include being connected to the puncture actuator 46 for puncturing sliding block 45 and being connected to puncturing actuator 46
Puncture needle 47, and puncture needle 47 is directed to the 42 corresponding center of circle of arched arm.It can be electric rotating machine to puncture actuator 46, operation
It is efficient.The actuator 46 that punctures is the rotary drive for driving the puncture needle 47, and rotary drive can be rotation
Motor, it is to puncture the rotation of puncture needle 47 that it, which is acted on, and reducing the extruding of piercing process puncture needle 47 causes target point to deviate,
Substantially increase puncture precision.
Alternatively, piercing mechanism 4 further includes contiguous block 41, and the first sliding block 43 is connected to the inner arc side of arched arm 42, arc
The outer arc Slideslip of arm 42 is connected to contiguous block 41.Contiguous block 41 can be rotationally connected with detent mechanism 3.The inner arc of arched arm 42
Side is provided with the first arc chute, and the first sliding block 43 is connected to the first arc chute.The outer arc side of arched arm 42 is provided with second
Arc chute, contiguous block 41 are connected to the second arc chute.The corresponding center of circle of first arc chute is corresponding with the second arc chute
The center of circle it is identical and consistent with the 42 corresponding center of circle of arched arm.
Alternatively, detent mechanism 3 includes the first articulated arm 34,35 and the 3rd articulated arm 36 of second joint bar, the first joint
One end of bar 34 is rotationally connected with one end of second joint bar 35, and the other end of second joint bar 35 is rotationally connected with the 3rd joint
One end of bar 36, the other end of the 3rd articulated arm 36 are rotationally connected with contiguous block 41, and contiguous block 41 can be around the 3rd articulated arm 36
Axis rotate.In concrete application, the quantity of articulated arm can be at least two.Between 41 and the 3rd articulated arm 36 of contiguous block,
It can pass through damping structure between 3rd articulated arm 36 and second joint bar 35, between 35 and first articulated arm 34 of second joint bar
Connection, can also adjust the modes such as locking, motor driving by bolt, and the first articulated arm 34, second joint bar 35 and the 3rd close
Pole 36 can also use self-balancing type gas strut, hydraulic strut structure or motor powered strut etc., easy to adjust.
Alternatively, opposite 3rd articulated arm 36 and second of rotary middle spindle between contiguous block 41 and the 3rd articulated arm 36 closes
Rotary middle spindle between pole 35 is vertical, to form the adjustment structure of various dimensions.Fig. 2 represents revolute to 4 chain lines
Shaft, arrow represent the direction of motion
Alternatively, the opposite second joint bar 35 of rotary middle spindle between the 3rd articulated arm 36 and second joint bar 35 and
Rotary middle spindle between one articulated arm 34 is parallel.In concrete application, between the 3rd articulated arm 36 and second joint bar 35, second
To be rotatablely connected using shaft between 35 and first articulated arm 34 of articulated arm, universal joint (bulb, cage) etc. can also be used
Mode connects.
In concrete application, detent mechanism 3 can also pass through 5 or the suitable construction such as articulated manipulator of 6DOF.
Alternatively, puncture positioning device further includes therapeutic bed 5 and base mechanism 1, and patient can lie in therapeutic bed 5.Treatment
The bottom of bed 5 is provided with elevating mechanism 2, to drive therapeutic bed 5 and patient to be vertically moved up or down.The bottom of elevating mechanism 2 is connected to bottom
Seat mechanism 1, therapeutic bed 5 are connected to the top of elevating mechanism 2.First articulated arm 34 is connected with supporting mechanism；Supporting mechanism includes
The supporting rack 31 that is connected to base mechanism 1 or elevating mechanism 2, the crossbeam 32 for being connected to supporting rack 31 and it is connected to the outstanding of crossbeam 32
Beam 33, under normal operating condition, crossbeam 32 and overarm 33 are in horizontal plane setting in T shape.Overarm 33 is set perpendicular to crossbeam 32
Put, and one end of overarm 33 is slidably connected to crossbeam 32, i.e. overarm 33 can be slided along crossbeam 32, and crossbeam 32 can be fixedly connected
In elevating mechanism 2 or base mechanism 1.First articulated arm 34 is longitudinally disposed and perpendicular to overarm 33, the lower end of the first articulated arm 34
Overarm 33 is slidably connected to, i.e. the first articulated arm 34 can be slided along overarm 33.Certainly, hang oneself from a beam 33 end can also be connected with
Supporting rod etc..
Alternatively, elevating mechanism 2 includes outer shaft 21 and lifting shaft 22, and outer shaft 21 is placed on lifting shaft 22, lifting shaft 22
It can be lifted with respect to outer shaft 21.Supporting rack 31 is provided with two and is respectively fixedly connected with the both sides of outer shaft 21, supporting rack
31 both ends are respectively fixedly connected with is connected to therapeutic bed 5 in supporting rack 31, the upper end of lifting shaft 22.Lifting shaft 22 can use gas
The modes such as pressure, hydraulic pressure, motor drive.
Alternatively, base mechanism 1 includes chassis 11 and the movable pulley 12 for being arranged at 11 bottom of chassis, and outer shaft 21 is fixed on
On chassis 11.Movable pulley 12 can be provided with multiple.Movable pulley 12 can include at least two universal wheels or traveling wheel.
As shown in Figures 1 to 4, the embodiment of the present invention additionally provides a kind of prostate radiation therapy bed (prostate brachy-therapy
Bed), prostate radiation therapy bed has a kind of above-mentioned puncture positioning device.
Prostate radiation therapy bed in the embodiment of the present invention mainly includes base mechanism 1, elevating mechanism 2, detent mechanism 3, wears
Pierce component and therapeutic bed 5.
Base mechanism 1 includes chassis 11 and movable pulley 12, and movable pulley 12 is installed on the lower section of chassis 11, whole prostate radiotherapy
Bed can be realized by movable pulley 12 and translated.
Elevating mechanism 2 includes outer shaft 21 and interior axle (lifting shaft 22) forms, and outer shaft 21 is fixedly mounted on chassis 11,
Outer shaft 21 is placed on interior axle and forms prismatic pair.Therapeutic bed 5 is fixedly mounted on interior axle (lifting shaft 22) upper end.
Detent mechanism 3 includes supporting rack 31, crossbeam 32, the 33, first articulated arm 34 of overarm, second joint bar 35 and the 3rd and closes
Pole 36, supporting rack 31 are fixedly mounted on outer shaft 21, and crossbeam 32 is fixedly mounted on supporting rack 31, and 33 one end of overarm are axis
Covering and be placed on crossbeam 32 and form prismatic pair, axle sleeve is in 34 one end of the first articulated arm and is placed on overarm 33 axis formation prismatic pair, and first
The other end of articulated arm 34 connects one end of second joint bar 35 by revolute pair, and the other end of second joint bar 35 passes through rotation
One end of pair the 3rd articulated arm 36 of connection.
Lancet and means (puncture working module) include contiguous block 41, arched arm 42 (also referred to as c-type arc C-arm), the first sliding block
43rd, puncturing guide rail 44, puncture sliding block 45, electric rotating machine and puncture needle 47.Closed by revolute pair connection the 3rd 41 one end of contiguous block
The other end of pole 36, the other end of contiguous block 41 connect the outer arc of arched arm 42, one end of the first sliding block 43 by prismatic pair
The inner arc of arched arm 42 is connected by prismatic pair, puncturing guide rail 44 is fixedly mounted on the other end of the first sliding block 43, makes itself and arc
Shape arm 42 it is radially consistent, puncture sliding block 45 by prismatic pair be installed on puncturing guide rail 44 in, electric rotating machine, which is fixedly mounted on, to be worn
Pierce on sliding block 45, puncture needle 47 is installed on electric rotating machine and forms revolute pair, and puncture needle 47 remains radially consistent simultaneously with c-type arc
The center of circle is directed toward, the arbitrary motion on circular arc of puncture needle 47 can be made to all point to the center of circle；By combining the 3rd articulated arm 36 with being connected
The prismatic pair Union Movement that the revolute pair and contiguous block 41 of block 41 are connected with arched arm 42 can cause puncture needle 47 in tapered zone
Domain is into needle movement, so as to fulfill puncture needle 47 with any attitude into pin puncture.Prostate brachy-therapy bed is transported using joint type
Dynamic, rectilinear motion and arched arm 42 (c-type arc C-arm) structure is combined mode, has both maintained joint type freedom of motion
High, movement flexibly, also maintains the advantages of rectilinear motion control is simple and convenient.By the c-type designed arc-shaped appearance of arched arm 42, wear
Pricker 47 keeps target point to be overlapped with the center of circle on the radius of c-type circular arc, can realize that Needle localization precision is high and energy is any
Posture punctures mode inserting needle.
A kind of puncture positioning device that the embodiment of the present invention is provided and the prostate radiotherapy with the puncture positioning device
Bed, puncturing guide rail 44 can the radial direction of arcuately arm 42 set and be directed to the 42 corresponding center of circle of arched arm, lancet and means are along arc
The radial direction of shape arm 42 is set, and lancet and means can be directed to the 42 corresponding center of circle of arched arm, lancet and means in arched arm 42 half
On footpath, the first sliding block 43 arcuately 42 arc sliding of arm when, lancet and means can also be remained pointing in 42 corresponding circle of arched arm
The heart, keeps target point to be overlapped with the center of circle, you can so that lancet and means arbitrary motion on circular arc all points to the center of circle, can realize and wear
Pierce positioning accuracy height and energy many attitude punctures mode inserting needle, and kinetic stability is good, can first pass through detent mechanism 3 will wear
Thorn component is quickly adjusted to suitable position, and preoperative Needle localization time is short, Needle localization precision is high, punctures spatial attitude
Adjustable dimension is big, it is possible to achieve multi-angle inserting needle, and operating efficiency is high, operating time is short, avoids radioactive particle from having doctor
Produce radioactive ray injury.
The foregoing is merely a prefered embodiment of the invention, is not intended to limit the invention, it is all the present invention spirit and
Any modification, equivalent substitution or improvement for being made within principle etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of puncture positioning device, it is characterised in that including piercing mechanism and for adjusting the orientation of the piercing mechanism
Detent mechanism, the piercing mechanism are connected to the detent mechanism, and the piercing mechanism includes arched arm, is connected to the arc
Arm and can along the arched arm arc sliding the first sliding block, be connected to first sliding block and along the arched arm radially set
Puncturing guide rail, be slidably connected to the puncture sliding block of the puncturing guide rail, be connected to it is described puncture sliding block lancet and means, it is described
Lancet and means are set along the radial direction of the arched arm.
2. a kind of puncture positioning device as claimed in claim 1, it is characterised in that the lancet and means include being connected to described
Puncture the puncture actuator of sliding block and be connected to the puncture needle of the puncture actuator, and the puncture needle is directed to arched arm pair
The center of circle answered, the actuator that punctures is the rotary drive for driving the puncture needle.
A kind of 3. puncture positioning device as claimed in claim 1, it is characterised in that the piercing mechanism further includes contiguous block,
First sliding block is connected to the inner arc side of the arched arm, and the outer arc Slideslip of the arched arm is connected to the contiguous block.
4. a kind of puncture positioning device as claimed in claim 3, it is characterised in that the detent mechanism includes the first joint
Bar, second joint bar and the 3rd articulated arm, one end of first articulated arm are rotationally connected with one end of the second joint bar,
The other end of the second joint bar is rotationally connected with one end of the 3rd articulated arm, and the other end of the 3rd articulated arm turns
It is dynamic to be connected to the contiguous block.
5. a kind of puncture positioning device as claimed in claim 4, it is characterised in that the contiguous block and the 3rd articulated arm
Between relatively described 3rd articulated arm of rotary middle spindle it is vertical with the rotary middle spindle between the second joint bar.
6. a kind of puncture positioning device as claimed in claim 5, it is characterised in that the 3rd articulated arm is closed with described second
The relatively described second joint bar of rotary middle spindle between pole is parallel with the rotary middle spindle between first articulated arm.
A kind of 7. puncture positioning device as claimed in claim 5, it is characterised in that the detent mechanism further include therapeutic bed and
Base mechanism, the bottom of the therapeutic bed are provided with elevating mechanism, and first articulated arm is connected with supporting mechanism；The support
Mechanism includes being connected to the supporting rack of the elevating mechanism, be connected to the crossbeam of support frame as described above and being connected to the outstanding of the crossbeam
Beam, the overarm is set perpendicular to the crossbeam, and one end of the overarm is slidably connected to the crossbeam, first joint
Bar is longitudinally disposed and is connected to the overarm perpendicular to the overarm, the lower slide of first articulated arm 34.
8. a kind of puncture positioning device as claimed in claim 7, it is characterised in that the elevating mechanism includes outer shaft and liter
Axis drops, and the outer shaft is placed on the lifting shaft, and support frame as described above is fixedly connected on the both sides of the outer shaft, the lifting shaft
Upper end be connected to the therapeutic bed.
9. a kind of puncture positioning device as claimed in claim 8, it is characterised in that the base mechanism includes chassis and setting
In the movable pulley of the tray bottom, the outer shaft is fixed on the chassis.
10. a kind of prostate radiation therapy bed, it is characterised in that the prostate radiation therapy bed has such as any one of claim 1 to 9
A kind of puncture positioning device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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