CN108042932A - A kind of ultrasonic probe control device in MRI-pHIFU thermal therapy systems - Google Patents
A kind of ultrasonic probe control device in MRI-pHIFU thermal therapy systems Download PDFInfo
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- CN108042932A CN108042932A CN201711350868.4A CN201711350868A CN108042932A CN 108042932 A CN108042932 A CN 108042932A CN 201711350868 A CN201711350868 A CN 201711350868A CN 108042932 A CN108042932 A CN 108042932A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N7/00—Ultrasound therapy
- A61N7/02—Localised ultrasound hyperthermia
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- 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
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- 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
- A61G13/02—Adjustable operating tables; Controls therefor
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- 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
- A61G13/10—Parts, details or accessories
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- 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
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
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Abstract
The present invention relates to a kind of ultrasonic probe control devices in MRI pHIFU thermal therapy systems, including bed body connecting plate, the driving bed body and work bed body being fixed on bed body connecting plate, probe terminal pad is equipped in operation bed body and the probe for probe terminal pad to be controlled to carry out multifreedom motion moves control assembly, drive the electrical motor gearshift group for being equipped with to drive the mobile control assembly of probe in bed body, the mobile control assembly of probe includes probe and moves back and forth mechanism, probe left/right movement device, probe rotating mechanism and probe swing mechanism, terminal pad of popping one's head in installation ultrasonic probe.Compared with prior art, modularized design of the present invention, drive bed body and the design of operation bed moduleization, electrical motor gearshift group and ultrasonic probe are kept completely separate, effectively avoid the influence that motor group is closely brought with ultrasonic probe in device operational process, multimachine structure couples, and Moving process control is accurate, does not interfere with each other.
Description
Technical field
The invention belongs to the field of medical instrument technology, and in particular to a kind of ultrasound in MRI-pHIFU thermal therapy systems
Probe control device.
Background technology
MRI-pHIFU (the phase control-type high intensity focused ultrasound of guided by magnetic resonance) is one and establishes in magnetic resonance real time imagery
On the basis of noninvasive thermal ablation techniques, shown in recent years in the clinical treatment of the tumours such as fibroid, brain tumor good
Effect, in recent years, with the continuous development of Real Time Imaging Technology, this physical therapeutic technic can obtain during treatment
To real time monitoring, the accuracy for the treatment of is substantially increased, also increasingly causes the highest attention of medical field.
PHIFU systems obtain sick in real time in MRI (magnetic resonance) when working under imaging devices guiding, it is necessary to from the equipment
Become the image around tissue, it is preoperative to carry out treatment planning convenient for doctor, it is postoperative to be convenient for entry evaluation therapeutic effect.And pHIFU systems
The focus of system is on moveable ultrasonic probe, when doctor determines that ablation areas is ready for ablative surgery, accurately may be used
Ultrasonic probe is positioned by ground, and crucial effect is played for selectively ablation lesion tissue.And position ultrasonic probe, it is necessary to
Accurately machine control unit.Accordingly, it is capable to a set of machine control unit of accurately and reliably popping one's head in of no invention, directly determines treatment
The length of time and the accuracy of lesion therapeutic domain, this has directly the effect after the safe coefficient of therapeutic process and treatment
The influence connect.
All kinds of probe control devices come into being as a result,.Patent of invention in Insightec companies Ye He tastes section et al.
《The mechanical positioner of ultrasonic therapeutical system mri guided CN01816582-》Devising a kind of energy can realize
The probe machine control unit of 4DOF movement, but it uses belt transmission, belt performance is unstable, it is difficult to ensure precision,
And the service life is relatively low；The patent of invention of PHILIPS Co.'s H Ilmari Salminens《CN201080042326- high intensity focused ultrasounds position
Mechanism application discloses》The probe control machinery device in the field is fallen within, but since its design is complicated, causes difficulty of processing
Greatly, it is not easy to install, not easy care.The motor that most of other mechanical positioners in MRI use on the market at present
The performance or distance MRI of influence MRI farther out, it is larger to result in kinematic accuracy error.
The content of the invention
The purpose of the present invention is exactly to solve the above-mentioned problems and provides a kind of for super in MRI-pHIFU thermal therapy systems
Sonic probe control device.
The purpose of the present invention is achieved through the following technical solutions：
A kind of ultrasonic probe control device in MRI-pHIFU thermal therapy systems including bed body connecting plate, is fixed on bed
Driving bed body and work bed body on body connecting plate, the operation bed body is interior to be equipped with probe terminal pad and for controlling probe company
The probe movement control assembly that disk carries out multifreedom motion is connect, is equipped with to drive the mobile control of probe in the driving bed body
The electrical motor gearshift group of component, wherein, the mobile control assembly of probe includes probe back-and-forth motion mechanism, probe moves left and right machine
Structure, probe rotating mechanism and probe swing mechanism, the probe terminal pad installation ultrasonic probe, the electrical motor gearshift group is described
The mobile control assembly of probe provides power, and passes through coupling control probe terminal pad movement, and then controls motion of ultrasound probe.
Further, there are four the electrical motor gearshift group is set, it is left that mechanism motor speed change group, probe are moved back and forth including probe
Move right mechanism motor speed change group, probe rotating mechanism electrical motor gearshift group and probe swing mechanism electrical motor gearshift group, the probe
It moves back and forth mechanism motor speed change group to be connected in u-bracket, the u-bracket is fixed in the driving bed body, the spy
Head left/right movement device electrical motor gearshift group is connected in by the first A-frame on driving area's planker, the probe rotating mechanism electricity
Machine speed change group is connected in by the second A-frame on driving area's planker, and the probe swing mechanism electrical motor gearshift group passes through the 3rd
A-frame is fixed on driving area's planker, and driving area's planker is by driving area's guide rail to be coupling in the driving bed body
On.
Further, each electrical motor gearshift group includes motor rack, the gear wheel in motor rack and pinion gear,
The pinion gear is engaged with gear wheel, and be connected ultrasound electric machine in the pinion gear, and the gear wheel is connected with motor output shaft, institute
Motor output shaft is stated to be coupling on motor rack by motor group bearing.
Further, the probe, which moves back and forth mechanism, includes the work being coupling in by saddle adjusting block in work bed body
Planker is moved left and right as area, the workspace moves left and right planker and moves back and forth mechanism by front and rear connection component and the probe
Electrical motor gearshift group is connected and moved back and forth.
Further, the front and rear connection component includes left and right catch bar and moves back and forth screw, the left and right catch bar
One end moves left and right planker by moving left and right support and workspace and is connected, and the other end passes through adjusting block and driving area's planker
Be connected, it is described back-and-forth motion screw one end by shaft coupling with probe move back and forth mechanism motor speed change group be connected, the other end and
The back-and-forth motion feed screw nut being connected on driving area's planker is coupled.
Further, the probe left/right movement device includes being coupling in workspace or so by workspace planker adjusting block
Workspace planker on moving carriage, the workspace planker move up and down screw with changing the first of power direction by transmission
Gear unit connects, and first gear unit moves up and down bar and shaft coupling and probe left/right movement device motor by transmission
Speed change group is connected and moved left and right.
Further, first gear unit includes two mutually ratcheting bevel gears one and bevel gear two, the cone tooth
Wheel one is fixed in transmission and moves up and down bar one end, and the bevel gear two is fixed in transmission and moves up and down screw one end, the transmission
Gan Shang installment works area bearing one is moved up and down, and fixation is supported by the support of bearing one, workspace bearing one is externally provided with square shaft
Lid is held, the transmission moves up and down installment work area bearing two on screw, and supports fixation, workspace bearing by the support of bearing two
Two are externally provided with round bearing lid, and the transmission moves up and down screw and is fixed on by screw bracket on the planker of workspace.
Further, the transmission snail that the probe rotating mechanism includes geared worm screw, is connected with geared worm screw
Bar, the transmission turbine ratcheting with geared worm, with the rotary sleeve that is connected of transmission turbine, the rotary sleeve is connected swivel mount, described
Swivel mount is connected with the first rotating side panel and the second rotating side panel, and described geared worm screw one end is mounted on endless screw support,
The other end is connected with changing the second gear unit of power direction, and second gear unit is by driving area's shaft coupling 2 and passing
Dynamic upper-lower rotating shaft is connected with probe rotating mechanism electrical motor gearshift group, and the geared worm is arranged in endless screw support, the work
Area's planker is equipped with the pipe sleeve limited block that limitation rotary sleeve moves back and forth.
Further, second gear unit includes workspace bearing three, workspace bearing four, the support of bearing three, axis
Stent four, round bearing lid two, square bearing lid two, bevel gear three and bevel gear four are held, the transmission upper-lower rotating shaft passes through
Workspace bearing three is coupled with the support of bearing three, and is connected with bevel gear three, and the round bearing lid two is stuck in workspace bearing
It on three and is fixed on the support of bearing three, the bevel gear three engages with bevel gear four, the bevel gear four and the transmission snail
Bar screw is connected, and the geared worm screw is coupled by workspace bearing four with the support of bearing four, and square bearing lid two is stuck in
On the workspace bearing four and it is fixed on the support of bearing four.
Further, the probe swing mechanism includes swing span, connecting rod one, connecting rod two and swinging axle, the swing span
It is coupled with connecting rod one, the connecting rod one is coupled with the connecting rod two, and the connecting rod two directly drives probe to swing, the swing span
It is connected with swinging axle, the swinging axle swings axis connection, the transmission swinging axle and mobile spiral shell by swinging guide rod and transmission
Parent phase couples, and the probe swing mechanism electrical motor gearshift group is coupled with travelling nut, and the travelling nut is fixed on travelling nut
In set, the travelling nut set is fixed on the 3rd A-frame.
Complete machine of the present invention is nonmagnetic, completely compatible with MRI machine, in the ablation bone tumour experiment of MRI-pHIFU thermal therapy systems
Aspect obtained movement feasibility and performance verification, can assisting ultrasonic system focus point is accurately moved over the course for the treatment of
Dynamic, positioning, makes up deficiency of the phase-control focusing focus in the moving range of space, for realizing that large-scale bone tumour melts, subtracts
Error is melted less, realizes that precisely treatment has huge meaning.
Compared with prior art, the present invention has the following advantages：
1st, modularized design drives bed body and the design of operation bed moduleization, and electrical motor gearshift group and ultrasonic probe is complete
Separation effectively avoids the influence that motor group is closely brought with ultrasonic probe in device operational process.
2nd, multimachine structure couples, and Moving process control is accurate, does not interfere with each other, and it is real using nut-screw rod mechanism to move back and forth mechanism
Now drive the front and rear transmission of area's planker；Left/right movement device of popping one's head in is realized by Bevel Gear Transmission, screw nut driving to probe
Left and right adjusting；Rotating mechanism of popping one's head in is realized by Bevel Gear Transmission, Worm Wheel System；Probe swing mechanism passes through screw spiral shell
Parent agency, screw body, which are realized, to be swung, and the movement of each degree of freedom has independent control mechanism and independent driving electricity
Unit driving carries out, and ensures the accurate control of motion process.
3rd, driving motor group uses ultrasound electric machine, can convert electrical current into the micro breadth oscillation of elastomer-forming (stator), and pass through
Frictional drive between stator, rotor (or mover) is converted the rotation of rotor or the linear motion of mover, maximum advantage
It is nonmagnetic, avoids the interference to magnetic resonance, ensure that the accuracy of detection.
Description of the drawings
Fig. 1 is the schematic diagram of apparatus of the present invention concrete application；
Fig. 2 is the overall structure diagram of apparatus of the present invention；
Fig. 3 is the structure diagram of apparatus of the present invention electrical motor gearshift group；
Fig. 4 is apparatus of the present invention electrical motor gearshift group internal mechanism structure diagram；
Fig. 5 is the structure diagram that apparatus of the present invention probe moves back and forth mechanism；
Fig. 6 is the structure diagram of apparatus of the present invention probe left/right movement device；
Fig. 7 is the close-up schematic view of Fig. 6；
Fig. 8 is the structure diagram of apparatus of the present invention probe rotating mechanism；
Fig. 9 is the close-up schematic view of Fig. 8；
Figure 10 is the structure diagram of apparatus of the present invention probe swing mechanism.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1
A kind of ultrasonic probe control device in MRI-pHIFU thermal therapy systems, as indicated with 2, including bed body connecting plate
0010th, the driving bed body 0020 and work bed body 0030 being fixed on bed body connecting plate 0010, interior be equipped with of work bed body 0030 are visited
Head terminal pad 0081 and the probe movement control assembly for controlling the probe progress multifreedom motion of terminal pad 0081, driving
It is equipped in bed body 0020 for the electrical motor gearshift group 0040 of the mobile control assembly of driving probe, wherein, mobile control assembly of popping one's head in
Mechanism 0050, probe left/right movement device 0060, probe rotating mechanism 0070 and probe swing mechanism are moved back and forth including probe
0080, probe terminal pad 0081 installs ultrasonic probe, and electrical motor gearshift group 0040 provides power for the mobile control assembly of probe, and leads to
Overcoupling control probe terminal pad 0081 moves, and then controls motion of ultrasound probe, in application, bed body connecting plate 0010 is fixed
In MRI machine bed body, as shown in Figure 1.
Specifically, as shown in figure 3, there are four electrical motor gearshift group 0040 sets, mechanism motor speed change is moved back and forth including probe
Group 0090, probe left/right movement device electrical motor gearshift group 0100, probe rotating mechanism electrical motor gearshift group 0110 and probe oscillating machine
Structure electrical motor gearshift group 0120, probe move back and forth mechanism motor speed change group 0090 and are connected in u-bracket 0130, u-bracket
0130 is fixed in driving bed body 0020, and probe left/right movement device electrical motor gearshift group 0100 is solid by the first A-frame 0140
It is connected on driving area's planker 0150, probe rotating mechanism electrical motor gearshift group 0110 is connected in driving by the second A-frame 0170
On area's planker 0150, probe swing mechanism electrical motor gearshift group 0120 is fixed on driving area's planker by the 3rd A-frame 0180
On 0150, driving area's planker 0150 is by driving area's guide rail 0160 to be coupling in driving bed body 0020.
As shown in figure 4, each electrical motor gearshift group includes motor rack 0240, the gear wheel in motor rack 0240
0210 and pinion gear 0200, pinion gear 0200 engaged with gear wheel 0210, in pinion gear 0200 be connected ultrasound electric machine 0190, canine tooth
Wheel 0210 is connected with motor output shaft 0220, and motor output shaft 0220 is coupling in motor rack 0240 by motor group bearing 0230
On.
Include being coupling in work bed body by saddle adjusting block 0310 as shown in figure 5, probe moves back and forth mechanism 0050
Workspace on 0030 moves left and right planker 0300, before workspace moves left and right planker 0300 by front and rear connection component and probe
Moving mechanism's electrical motor gearshift group 0090 is connected and moved back and forth afterwards.Front and rear connection component includes left and right catch bar 0280 with before
After move screw 0251, catch bar 0280 one end in left and right moves left and right planker 0300 by moving left and right support 0290 with workspace
Connection, the other end are connected by adjusting block 0270 and driving area's planker 0150, are moved back and forth 0251 one end of screw and are passed through shaft coupling
0250 moves back and forth mechanism motor speed change group 0090 with probe is connected, and the other end is front and rear on driving area's planker 0150 with being connected in
Mobile feed screw nut 0260 is coupled.
As shown in Figure 6,7, left/right movement device 0060 of popping one's head in includes being coupling in work by workspace planker adjusting block 0450
The workspace planker 0440 on planker 0300 is moved left and right as area, workspace planker 0440 moves up and down screw 0420 by transmission
It is connected with the first gear unit for changing power direction, the first gear unit moves up and down bar 0330 and shaft coupling by transmission
0320 is connected and is moved left and right with probe left/right movement device electrical motor gearshift group 0100.First gear unit includes two phases
Ratcheting bevel gear 1 and bevel gear 2 0360, bevel gear 1 are fixed in transmission and move up and down 0330 one end of bar, cone
Gear 2 0360 is fixed in transmission and moves up and down 0420 one end of screw, and transmission moves up and down installment work area bearing one on bar 0330
0340, and supported and fixed by the support of bearing 1, workspace bearing 1 is externally provided with square bearing lid 0410, and transmission is up and down
Installment work area bearing 2 0370 on mobile screw 0420, and supported and fixed by the support of bearing 2 0400, workspace bearing two
0370 is externally provided with round bearing lid 0380, and transmission moves up and down screw 0420 and is fixed on workspace planker by screw bracket 0430
On 0440.
As shown in Figure 8,9, rotating mechanism 0070 of popping one's head in includes geared worm screw 0560, connects with geared worm screw 0560
The geared worm 0570 that connects, the transmission turbine 0580 ratcheting with geared worm 0570, the rotary sleeve being connected with transmission turbine 0580
0590, rotary sleeve 0590 is connected swivel mount 0600,0600 and first rotating side panel 0610 of swivel mount and the second rotating side panel 0620
It is connected, 0560 one end of geared worm screw is mounted on endless screw support 0630, the other end and the second transmission for changing power direction
Unit connects, and the second gear unit is by driving area's shaft coupling 20460 and transmission upper-lower rotating shaft 0470 and probe rotating mechanism
Electrical motor gearshift group 0110 connects, and geared worm 0570 is arranged in endless screw support 0630, and workspace planker 0440 is equipped with limitation and revolves
The pipe sleeve limited block 0640 that pivoted housing 0590 moves back and forth.Second gear unit includes workspace bearing 3 0480, workspace bearing
4 0490, the support of bearing 3 0500, the support of bearing 4 0510, round bearing lid 2 0520, square bearing lid 2 0530, bevel gear
3 0540 and bevel gear 4 0550, transmission upper-lower rotating shaft 0470 passes through workspace bearing 3 0480 and 3 0500 coupling of the support of bearing
It closes, and is connected with bevel gear 3 0540, round bearing lid 2 0520 is stuck on workspace bearing 3 0480 and is fixed on bearing branch
On frame 3 0500, bevel gear 3 0540 engages with bevel gear 4 0550, and bevel gear 4 0550 is connected with geared worm screw 0560,
Geared worm screw 0560 is coupled by workspace bearing 4 0490 with the support of bearing 4 0510, and square bearing lid 2 0530 is stuck in
On workspace bearing 4 0490 and it is fixed on the support of bearing 4 0510.
As shown in Figure 10, swing mechanism 0080 of popping one's head in includes swing span 0710, connecting rod 1, connecting rod 2 0730 and swings
Axis 0700, swing span 0710 are coupled with connecting rod 1, and connecting rod 1 is coupled with connecting rod 2 0730,2 0730 direct band of connecting rod
Dynamic probe is swung, and swing span 0710 is connected with swinging axle 0700, and swinging axle 0700 is swung by swinging guide rod 0690 with transmission
Axis 0680 connects, and transmission swinging axle 0680 is coupled with travelling nut 0650, and probe swing mechanism electrical motor gearshift group 0120 is with moving
Dynamic nut 0650 couples, and travelling nut 0650 is fixed in travelling nut set 0660, and travelling nut set 0660 is fixed on the three or three
In angle support 0180.
The above description of the embodiments is intended to facilitate ordinary skill in the art to understand and use the invention.
Person skilled in the art obviously can easily make these embodiments various modifications, and described herein general
Principle is applied in other embodiment without having to go through creative labor.Therefore, the invention is not restricted to above-described embodiment, abilities
Field technique personnel announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be the present invention's
Within protection domain.
Claims (10)
1. a kind of ultrasonic probe control device in MRI-pHIFU thermal therapy systems, which is characterized in that including bed body connecting plate
(0010), the driving bed body (0020) and work bed body (0030) being fixed on bed body connecting plate (0010), the work bed body
(0030) probe terminal pad (0081) is equipped in and for probe terminal pad (0081) to be controlled to carry out the spy of multifreedom motion
The mobile control assembly of head, the interior electrical motor gearshift group for being equipped with to drive probe movement control assembly of the driving bed body (0020)
(0040), wherein, the mobile control assembly of probe includes probe and moves back and forth mechanism (0050), probe left/right movement device
(0060), probe rotating mechanism (0070) and probe swing mechanism (0080), the probe terminal pad (0081) install ultrasound spy
Head, the electrical motor gearshift group (0040) provide power for the mobile control assembly of the probe, and pass through coupling control probe connection
Disk (0081) moves, and then controls motion of ultrasound probe.
2. a kind of ultrasonic probe control device in MRI-pHIFU thermal therapy systems according to claim 1, feature
It is, there are four the electrical motor gearshift group (0040) sets, it is left moves back and forth mechanism motor speed change group (0090), probe including probe
Move right mechanism motor speed change group (0100), probe rotating mechanism electrical motor gearshift group (0110) and probe swing mechanism electrical motor gearshift
Group (0120), the probe move back and forth mechanism motor speed change group (0090) and are connected in u-bracket (0130), the U-shaped branch
Frame (0130) is fixed on driving bed body (0020), and the probe left/right movement device electrical motor gearshift group (0100) passes through the
One A-frame (0140) is connected on driving area's planker (0150), and the probe rotating mechanism electrical motor gearshift group (0110) passes through
Second A-frame (0170) is connected on driving area's planker (0150), and the probe swing mechanism electrical motor gearshift group (0120) is logical
It crosses the 3rd A-frame (0180) to be fixed on driving area's planker (0150), driving area's planker (0150) passes through driving
Area's guide rail (0160) is coupling on the driving bed body (0020).
3. a kind of ultrasonic probe control device in MRI-pHIFU thermal therapy systems according to claim 2, feature
Be, each electrical motor gearshift group include motor rack (0240), the gear wheel (0210) in motor rack (0240) and
Pinion gear (0200), the pinion gear (0200) are engaged with gear wheel (0210), and be connected ultrasonic electric on the pinion gear (0200)
Machine (0190), the gear wheel (0210) are connected with motor output shaft (0220), and the motor output shaft (0220) passes through motor
Group bearing (0230) is coupling on motor rack (0240).
4. a kind of ultrasonic probe control device in MRI-pHIFU thermal therapy systems according to claim 3, feature
It is, the probe, which moves back and forth mechanism (0050), to be included being coupling in work bed body (0030) by saddle adjusting block (0310)
On workspace move left and right planker (0300), the workspace moves left and right planker (0300) and passes through front and rear connection component and institute
Probe is stated to move back and forth mechanism motor speed change group (0090) connection and moved back and forth.
5. a kind of ultrasonic probe control device in MRI-pHIFU thermal therapy systems according to claim 4, feature
It is, the front and rear connection component includes left and right catch bar (0280) and moves back and forth screw (0251), the left and right catch bar
(0280) one end moves left and right planker (0300) with workspace and is connected by moving left and right support (0290), and the other end passes through adjusting
Block (0270) is connected with driving area's planker (0150), and described back-and-forth motion screw (0251) one end passes through shaft coupling (0250)
Mechanism motor speed change group (0090) is moved back and forth with probe to be connected, the other end is front and rear on driving area's planker (0150) with being connected in
Mobile feed screw nut (0260) is coupled.
6. a kind of ultrasonic probe control device in MRI-pHIFU thermal therapy systems according to claim 4, feature
It is, the probe left/right movement device (0060) includes being coupling in workspace or so by workspace planker adjusting block (0450)
Workspace planker (0440) on moving carriage (0300), the workspace planker (0440) move up and down screw by transmission
(0420) it is connected with changing the first gear unit of power direction, first gear unit moves up and down bar by transmission
(0330) and shaft coupling (0320) is connected and is moved left and right with probe left/right movement device electrical motor gearshift group (0100).
7. a kind of ultrasonic probe control device in MRI-pHIFU thermal therapy systems according to claim 6, feature
It is, first gear unit includes two mutually ratcheting bevel gears one (0350) and bevel gear two (0360), the cone tooth
One (0350) of wheel is fixed in transmission and moves up and down bar (0330) one end, and the bevel gear two (0360) is fixed in transmission and moves up and down
Screw (0420) one end, the transmission move up and down installment work area bearing one (0340) on bar (0330), and by the support of bearing
One (0340) support is fixed, and workspace bearing one (0340) is externally provided with square bearing lid (0410), and the transmission moves up and down silk
Installment work area bearing two (0370) on bar (0420), and supported and fixed by the support of bearing two (0400), workspace bearing two
(0370) round bearing lid (0380) is externally provided with, it is fixed by screw bracket (0430) that the transmission moves up and down screw (0420)
On workspace planker (0440).
8. a kind of ultrasonic probe control device in MRI-pHIFU thermal therapy systems according to claim 4, feature
It is, the probe rotating mechanism (0070) includes geared worm screw (0560), is connected with geared worm screw (0560)
Geared worm (0570), the transmission turbine (0580) ratcheting with geared worm (0570), the rotation being connected with transmission turbine (0580)
Pivoted housing (0590), the rotary sleeve (0590) are connected swivel mount (0600), the swivel mount (0600) and the first rotating side panel
(0610) it is connected with the second rotating side panel (0620), described geared worm screw (0560) one end is mounted on endless screw support (0630)
On, the other end is connected with changing the second gear unit of power direction, and second gear unit is by driving area's shaft coupling 2
(0460) and transmission upper-lower rotating shaft (0470) is connected with probe rotating mechanism electrical motor gearshift group (0110), the geared worm
(0570) it is arranged in endless screw support (0630), the workspace planker (0440) is equipped with limitation rotary sleeve (0590) and moves back and forth
Pipe sleeve limited block (0640).
9. a kind of ultrasonic probe control device in MRI-pHIFU thermal therapy systems according to claim 8, feature
It is, second gear unit includes workspace bearing three (0480), workspace bearing four (0490), the support of bearing three
(0500), the support of bearing four (0510), round bearing lid two (0520), square bearing lid two (0530), bevel gear three (0540)
With bevel gear four (0550), the transmission upper-lower rotating shaft (0470) passes through workspace bearing three (0480) and the support of bearing three
(0500) couple, and be connected with bevel gear three (0540), the round bearing lid two (0520) is stuck in workspace bearing three
(0480) on and it is fixed on the support of bearing three (0500), the bevel gear three (0540) is engaged with bevel gear four (0550), institute
It states bevel gear four (0550) to be connected with the geared worm screw (0560), the geared worm screw (0560) passes through workspace
Bearing four (0490) is coupled with the support of bearing four (0510), and square bearing lid two (0530) is stuck in the workspace bearing four
(0490) on and it is fixed on the support of bearing four (0510).
10. a kind of ultrasonic probe control device in MRI-pHIFU thermal therapy systems according to claim 4, special
Sign is that the probe swing mechanism (0080) includes swing span (0710), connecting rod one (0720), connecting rod two (0730) and swings
Axis (0700), the swing span (0710) couple with connecting rod one (0720), the connecting rod one (0720) and the connecting rod two
(0730) couple, the connecting rod two (0730) directly drives probe to swing, and the swing span (0710) is solid with swinging axle (0700)
Even, the swinging axle (0700) is connected by swinging guide rod (0690) with transmission swinging axle (0680), the transmission swinging axle
(0680) it is coupled with travelling nut (0650), the probe swing mechanism electrical motor gearshift group (0120) and travelling nut (0650)
Coupling, the travelling nut (0650) are fixed in travelling nut set (0660), and the travelling nut set (0660) is fixed on the
On three A-frames (0180).
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| CN201711350868.4A CN108042932B (en) | 2017-12-15 | 2017-12-15 | Ultrasonic probe control device for MRI-pHIFU thermal therapy system |
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| CN108042932B CN108042932B (en) | 2023-12-01 |
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Cited By (4)
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| CN110179527A (en) * | 2019-05-17 | 2019-08-30 | 鑫高益医疗设备股份有限公司 | A kind of nuclear magnetic resonance ultrasound knife control device and nuclear magnetic resonance medical bed |
| CN111603691A (en) * | 2020-04-26 | 2020-09-01 | 哈尔滨医科大学 | Multi-core MRI (magnetic resonance imaging) -guided HIFU (high intensity focused ultrasound) focusing probe positioning device and using method thereof |
| WO2022126896A1 (en) | 2020-12-17 | 2022-06-23 | 上海沈德医疗器械科技有限公司 | Five-degree-of-freedom therapeutic focus positioning device for magnetic resonance guidance |
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Address after: Room 2177, Building 6, No. 25, Lane 835, Jiaxin Road, Jiading District, Shanghai, 201822 Applicant after: Shanghai Shende Wuchuang Era Medical Technology Co.,Ltd. Address before: Room 2177, Building 6, No. 25, Lane 835, Jiaxin Road, Jiading District, Shanghai, 201822 Applicant before: SHANGHAI SHENDE MEDICAL INSTRUMENT TECHNOLOGY CO.,LTD. |
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