CN108114366B - Medical oncology medicine intervenes comprehensive treatment device - Google Patents
Medical oncology medicine intervenes comprehensive treatment device Download PDFInfo
- Publication number
- CN108114366B CN108114366B CN201810094448.2A CN201810094448A CN108114366B CN 108114366 B CN108114366 B CN 108114366B CN 201810094448 A CN201810094448 A CN 201810094448A CN 108114366 B CN108114366 B CN 108114366B
- Authority
- CN
- China
- Prior art keywords
- treatment
- arm
- telescopic
- tumor
- intervention
- 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.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M31/00—Devices for introducing or retaining media, e.g. remedies, in cavities of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computerised tomographs
- A61B6/032—Transmission computed tomography [CT]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
Abstract
The utility model provides a comprehensive treatment device is intervene to medical oncology medicine, includes device and the waste liquid device of dosing and intervenes treatment robotic arm, and robotic arm connects the star and intervenes the treatment frame, and the star is intervened the treatment frame and is included a plurality of supports that stretch out by the outside annular in center, the support can be around the vertical swing in center, install the telescopic link on the support, the telescopic link can remove at support length direction, every install on the telescopic link and dose intervention needle or waste liquid recovery and intervene the needle, install the telescopic link that intervenes needle and waste liquid recovery and intervene the needle and set up around the center interval, the star is intervened treatment frame center and is set up follow-up location receiving module to dispose follow-up target module, follow-up target module fixes the tumor center. And (4) making a treatment plan by means of CT images, and realizing accurate treatment by a robot arm.
Description
Technical Field
The invention relates to the medical oncology, in particular to the technical field of drug delivery for medical oncology treatment.
Background
The medical oncology treatment of tumor patients is an important means in the field of tumor treatment, the medical oncology generally adopts a drug treatment mode to inhibit tumor cells, most medical oncology drug treatments adopt an oral method, the treatment drugs are difficult to directly reach tumor parts, the treatment effect cannot be quickly achieved, and the treatment effect cannot be ensured; the existing medical oncology drug administration field adopts an intervention needle for drug administration, but still adopts manual operation, the treatment effect depends on the subjectivity of medical staff to be larger, and the conventional intervention needle can only carry out one-way drug administration and cannot discharge body fluid at the same time; the use of an interventional needle is also single use; meanwhile, other means cannot be used, and the treatment effect is improved.
Disclosure of Invention
The invention aims to provide a medical interventional comprehensive treatment device for medical oncology, which makes a treatment plan by means of CT images and realizes accurate treatment through a robot arm. The specific technical scheme is as follows:
a drug intervention comprehensive treatment device for medical oncology comprises a drug administration device, a waste liquid device and an intervention treatment robot arm, wherein the drug administration device comprises a drug administration container, a drug administration pump, a stirrer, a temperature controller and an input tube, the waste liquid device comprises a waste liquid container, a waste liquid pump and an output tube, the input tube and the output tube are connected to the intervention treatment robot arm, the robot arm comprises a first arm, a second arm and a third arm, the first arm is connected with a fixing device through a first joint, the first arm and the second arm are connected through a second joint, the second arm and the third arm are connected through a third joint, the third arm is connected with a star-shaped intervention treatment frame through a fourth joint, the second joint and the third joint are provided with a horizontal servo motor and a vertical servo motor, the fourth joint is provided with a vertical servo motor and a torsion servo motor, the star-shaped intervention frame comprises a plurality of supports which extend outwards in an annular mode from the center to the outside, the supports can swing around the center, the telescopic supports are provided with telescopic rods, the telescopic rods can move in the length direction of the telescopic rods, each support can move along with the interventional needle, each interventional needle is provided with the interventional needle, the interventional needle insertion device or the interventional needle insertion device is provided with the telescopic rod, the telescopic rod is provided with the telescopic rod, the telescopic rod is arranged along with the telescopic needle insertion control module, the telescopic rod insertion depth control module, the telescopic rod insertion control module, the distance control module, the telescopic rod insertion control module is arranged along with the distance of the needle insertion control module, the needle insertion treatment frame, the needle insertion control.
Furthermore, the follow-up positioning receiving module and the follow-up target module are both provided with an ultrasonic module and a wireless receiving and transmitting module, the direction and the distance are confirmed through the ultrasonic module, and the communication between the follow-up positioning receiving module and the follow-up target module is realized through the wireless receiving and transmitting module. Characterised by magnetic means
Furthermore, an electromagnetic device is arranged on the star interventional therapy frame and used for keeping the anti-tumor magnetic nanoparticle medicine at the tumor position and prolonging the action time of the anti-tumor magnetic nanoparticle medicine.
Further, the electromagnetic device can generate an alternating magnetic field for heating the anti-tumor magnetic nanoparticle medicine.
Furthermore, a miniature camera is installed on the star-shaped interventional therapy frame.
Furthermore, the miniature camera is connected to a network, and can perform real-time remote consultation through a network terminal system.
Furthermore, a telescopic device is arranged on the first arm, an elastic button is arranged on the telescopic device and used for adjusting the telescopic device, when the elastic button bounces, the telescopic device is locked by a mechanical locking device, and when the elastic button is pressed down, the telescopic device can freely stretch and retract.
The invention has the following technical effects:
the treatment plan is made through CT image data, and due to the use of the star-shaped interventional treatment frame of the robot arm, the interventional needle can accurately determine the interventional position, angle and depth according to the shape and pathological change condition of the tumor, and simultaneously accurately control the position, angle and depth of the interventional needle for discharging waste liquid, and can control the pressure of the pump; furthermore, a robot arm is utilized, real-time accurate positioning can be realized, uncertainty caused by manual treatment is avoided, and the working intensity of medical staff is greatly reduced; the magnetic therapy and ultrasonic module are further combined to act together, so that the treatment effect is improved; and further, a network camera is utilized to realize remote consultation.
Drawings
FIG. 1 is a schematic structural diagram of the medical drug intervention comprehensive treatment device for oncology;
fig. 2 is a top view of a star-shaped interventional treatment stand of the treatment device of the present invention.
Detailed Description
The following description of preferred embodiments will provide further details of the present invention.
As shown in figures 1 and 2, the medical interventional device for oncology comprises a drug administration device 1, a waste liquid device 2 and an interventional therapy robot arm 3, wherein the drug administration device comprises a drug administration container 1-1, a drug administration pump 1-2, a stirrer 1-3, a temperature controller 1-4 and an input pipe 1-5, the waste liquid device comprises a waste liquid container 2-1, a waste liquid pump 2-2 and an output pipe 2-3, the input pipe 1-5 and the output pipe 2-3 are connected to the interventional therapy robot arm 3, the robot arm comprises a first arm 3-1, a second arm 3-2 and a third arm 3-3, the first arm 3-1 is connected with a fixing device through a first joint 3-4, the first arm 3-1 and the second arm 3-2 are connected through a second joint 3-5, the second arm 3-2 and the third arm 3-3 are connected through a third joint 3-6, the third arm 3-3 is connected with the interventional stent 3-3 through a star joint 3-7, the interventional stent 3-3 is connected with the interventional stent 3 through a star joint 3-7, the interventional stent 3-3, the interventional stent 3 is connected with a telescopic rod 3, a telescopic rod 3-3, a telescopic rod is arranged around a telescopic rod 3-3 telescopic rack capable of vertically swinging and a telescopic rod capable of vertically swinging and a telescopic control module capable of vertically swinging along with a tumor treatment center, a tumor treatment control module is arranged around a tumor treatment control center 3-3 telescopic rod capable of keeping a tumor treatment, a tumor treatment device capable of keeping a tumor treatment and a tumor treatment device capable of keeping a tumor treatment, a tumor treatment center 3-3 telescopic rod swinging along with a tumor treatment, a tumor treatment device capable of keeping a tumor treatment, a tumor treatment device capable of keeping a tumor treatment device, a tumor treatment device capable of keeping a tumor treatment device 3-3 telescopic control, a tumor treatment device 3-3 telescopic rod swinging along with a tumor treatment device, a.
The follow-up positioning receiving module and the follow-up target module are both provided with an ultrasonic module and a wireless receiving and transmitting module, the direction and the distance are confirmed through the ultrasonic module, and communication between the follow-up positioning receiving module and the follow-up target module is realized through the wireless receiving and transmitting module. Characterised by magnetic means
The star interventional therapy frame is provided with an electromagnetic device for keeping the anti-tumor magnetic nano particle medicine at the tumor position and prolonging the action time of the anti-tumor magnetic nano particle medicine.
The electromagnetic device can generate an alternating magnetic field and is used for heating the anti-tumor magnetic nanoparticle medicine.
The star interventional therapy frame is provided with a miniature camera.
The miniature camera is connected to a network, and can be used for real-time remote consultation through a network terminal system.
The telescopic device is arranged on the first arm, an elastic button is arranged on the telescopic device and used for adjusting the telescopic device, when the elastic button bounces, the telescopic device is locked by the mechanical locking device, and when the elastic button is pressed down, the telescopic device can freely stretch out and draw back.
The treatment device is used for determining the size, shape and lesion degree of a tumor through CT image data, making a treatment plan, recording P L C, controlling a robot arm and an interventional treatment frame through P L C to achieve the expected interventional position, angle and depth, improving the treatment effect by combining magnetic therapy and ultrasonic waves, and monitoring the treatment process by using a camera and realizing network remote consultation.
The invention has been described in an illustrative manner, and it is to be understood that the invention is not limited to the specific embodiments described above, but is intended to cover various modifications, which may be made by the methods and technical solutions of the invention, or may be applied to other applications without modification.
Claims (6)
1. A drug intervention comprehensive treatment device for medical oncology comprises a drug administration device, a waste liquid device and an intervention treatment robot arm, wherein the drug administration device comprises a drug administration container, a drug administration pump, a stirrer, a temperature controller and an input tube, the waste liquid device comprises a waste liquid container, a waste liquid pump and an output tube, the input tube and the output tube are connected to the intervention treatment robot arm, the robot arm comprises a first arm, a second arm and a third arm, the first arm is connected with a fixing device through a first joint, the first arm and the second arm are connected through a second joint, the second arm and the third arm are connected through a third joint, the third arm is connected with a star-shaped intervention treatment frame through a fourth joint, the second joint and the third joint are provided with a horizontal servo motor and a vertical servo motor, the fourth joint is provided with a vertical servo motor and a torsional servo motor, the star-shaped intervention frame comprises a plurality of supports which extend outwards in an annular mode from the center to the outside, the supports can swing around the center, the telescopic supports are provided with telescopic links, the telescopic links the central telescopic links, the telescopic supports are provided with the interventional needle, the interventional needle is capable of moving along with the central positioning module, the telescopic needle module is provided with the telescopic needle module, the telescopic needle module for controlling the tumor interventional module for receiving and the target positioning module for controlling the target positioning module for receiving and the tumor treatment module for controlling the tumor treatment module for.
2. The comprehensive therapeutic device for drug intervention in oncology department according to claim 1, wherein the star interventional therapeutic frame is provided with an electromagnetic device for keeping the anti-tumor magnetic nanoparticle drug at the tumor position and increasing the action time thereof.
3. The oncology medicine interventional comprehensive therapy device according to claim 2, wherein the electromagnetic device is capable of generating an alternating magnetic field for heating the anti-tumor magnetic nanoparticle medicine.
4. The medical oncology drug intervention comprehensive treatment device of claim 1, wherein a miniature camera is mounted on the star-shaped intervention treatment frame.
5. The medical oncology drug intervention comprehensive treatment device of claim 4, wherein the micro camera is connected to a network, and can perform real-time remote consultation through a network terminal system.
6. The comprehensive therapeutic device for drug intervention in oncology department according to claim 1, wherein the first arm is provided with a telescopic device, the telescopic device is provided with an elastic button for adjusting the telescopic device, when the elastic button is bounced, the telescopic device is locked by a mechanical locking device, and when the elastic button is pressed, the telescopic device can freely stretch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810094448.2A CN108114366B (en) | 2018-01-31 | 2018-01-31 | Medical oncology medicine intervenes comprehensive treatment device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810094448.2A CN108114366B (en) | 2018-01-31 | 2018-01-31 | Medical oncology medicine intervenes comprehensive treatment device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108114366A CN108114366A (en) | 2018-06-05 |
| CN108114366B true CN108114366B (en) | 2020-08-07 |
Family
ID=62233398
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810094448.2A Active CN108114366B (en) | 2018-01-31 | 2018-01-31 | Medical oncology medicine intervenes comprehensive treatment device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108114366B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108969072A (en) * | 2018-08-10 | 2018-12-11 | 上海霖晏医疗科技有限公司 | A kind of nerve block anesthesia robot |
| CN113577446B (en) * | 2021-07-28 | 2023-08-22 | 南京启初新材料有限公司 | Medical oncology medicine intervention treatment equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998012978A2 (en) * | 1996-09-26 | 1998-04-02 | Philips Electronics N.V. | Image-guided surgery system |
| CN102046081A (en) * | 2008-03-27 | 2011-05-04 | 圣朱德医疗有限公司房颤分公司 | Robotic catheter system |
| CN205928391U (en) * | 2016-08-17 | 2017-02-08 | 苏州市品正电子设备有限公司 | Along with dynamic positioning device |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1522664A (en) * | 2003-09-04 | 2004-08-25 | 高春平 | Immune magnetic microsphere tridimensional positioning therapeutic method and device |
| US7280863B2 (en) * | 2003-10-20 | 2007-10-09 | Magnetecs, Inc. | System and method for radar-assisted catheter guidance and control |
| DE102007055203A1 (en) * | 2007-11-19 | 2009-05-20 | Kuka Roboter Gmbh | A robotic device, medical workstation and method for registering an object |
| CN105148334A (en) * | 2015-06-04 | 2015-12-16 | 韩修建 | Tumor interventional dosing drainage treatment device |
| CN205215925U (en) * | 2015-11-12 | 2016-05-11 | 王艳霞 | Treatment device is intervene to medical oncology medicine |
| CN105943161A (en) * | 2016-06-04 | 2016-09-21 | 深圳市前海康启源科技有限公司 | Surgical navigation system and method based on medical robot |
| CN206434411U (en) * | 2016-11-14 | 2017-08-25 | 孙家澍 | A kind of three-D electric controls support arm |
| CN107088092A (en) * | 2017-04-12 | 2017-08-25 | 浙江大学 | Vertebroplasty body surface location navigator |
| CN106983560B (en) * | 2017-04-20 | 2023-07-25 | 广州泰晶智能科技有限公司 | Soft mirror operation auxiliary robot system |
| CN107243097A (en) * | 2017-05-13 | 2017-10-13 | 张振 | A kind of novel tumor medical interventional therapy device |
-
2018
- 2018-01-31 CN CN201810094448.2A patent/CN108114366B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998012978A2 (en) * | 1996-09-26 | 1998-04-02 | Philips Electronics N.V. | Image-guided surgery system |
| CN102046081A (en) * | 2008-03-27 | 2011-05-04 | 圣朱德医疗有限公司房颤分公司 | Robotic catheter system |
| CN205928391U (en) * | 2016-08-17 | 2017-02-08 | 苏州市品正电子设备有限公司 | Along with dynamic positioning device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108114366A (en) | 2018-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108114366B (en) | Medical oncology medicine intervenes comprehensive treatment device | |
| CN104248790A (en) | Intelligent transfusion device and operation method thereof | |
| CN108906188A (en) | A kind of intensive care unit tablet disintegrating electuary device | |
| CN107715221A (en) | Infusion alarm system and method based on infusion alarming robot | |
| US20070167739A1 (en) | Internally directed imaging and tracking system | |
| CN107929925A (en) | A kind of special feeding device of Respiratory Medicine and medicine-feeding method | |
| CN104323859B (en) | Blood vessel intervention operation robot guide wire resistive haptic reduction apparatus and control method thereof | |
| CN209253639U (en) | A kind of care device for Neurology | |
| CN110141712A (en) | Novel sausage instrument based on underactuated manipulator | |
| CN110478563A (en) | More bags of continuous transfusion systems of intelligence | |
| CN206852866U (en) | Medical infusion lines flow velocity automatic detection and control device | |
| CN206151484U (en) | Internal haemorrhage quick check appearance | |
| CN108744127A (en) | Radiation enhancing infusion connector Automatic Link Establishment | |
| CN209173107U (en) | A kind of transfusion drip speed alarm | |
| WO2019085279A1 (en) | Infusion notification robot based on drip tube scanning | |
| CN208481799U (en) | A kind of externally connected portable formula infusion device that novel remote is controllable | |
| CN107865989A (en) | Infusion alarming robot based on weight measurement | |
| CN113521431A (en) | Nerve intervention high-pressure continuous perfusion system and use method thereof | |
| CN211157746U (en) | Oncology is with nursing device of dosing | |
| CN206587236U (en) | Hospital bed monitoring system | |
| CN206809270U (en) | A kind of intelligent bust | |
| CN108939197A (en) | Intelligent transfusion robot ambulation control device based on Internet of Things | |
| CN109199791A (en) | A kind of upper limb rehabilitation robot of various dimensions | |
| CN215782885U (en) | Immune medicine remote delivery device | |
| CN110496271A (en) | A kind of quantitatively infusion apparatus monitoring device of early warning and automatic stop |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |