CN108436883B

CN108436883B - Nuclide labeling robot

Info

Publication number: CN108436883B
Application number: CN201810356963.3A
Authority: CN
Inventors: 杨敏; 徐宇平; 潘栋辉; 王辛宇; 潘晶; 谢敏浩; 赵富宽; 冯义兴; 胡文璐; 牛运涛; 沈满; 魏建新
Original assignee: Shanghai Timi Robot Co ltd; Jiangsu Institute of Nuclear Medicine
Current assignee: Shanghai Timi Robot Co ltd; Jiangsu Institute of Nuclear Medicine
Priority date: 2018-04-20
Filing date: 2018-04-20
Publication date: 2024-01-02
Anticipated expiration: 2038-04-20
Also published as: CN108436883A

Abstract

The invention relates to a nuclide labeling robot, comprising: the robot and the cutting ferrule are detachably arranged on the robot; the robot includes: robot upper body, removal base and two robot arms, remove the base top and have a platform, have on the platform with cutting ferrule assorted draw-in groove, two robot arms is snatch arm, suction head arm respectively, the robot upper body still is equipped with establishes camera and activity detection subassembly, just activity detection subassembly passes through the lift arm and connects on the robot upper body. The nuclide labeling robot provided by the invention can realize the works of automatic labeling of nuclides, transfer of finished products, collection of waste liquid and the like without manual operation, thereby avoiding the operator from being damaged by the radiation of radioactive elements, and simultaneously greatly improving the operation efficiency and the operation precision.

Description

Nuclide labeling robot

Technical Field

The invention relates to the technical field of medical treatment, in particular to a robot capable of automatically completing nuclide labeling.

Background

Nuclear medicine is a molecular imaging technology which is mature in clinical application at present, and is an important means indispensable for accurate medicine. The method is a successful application of 'radionuclide' in the field of medicine, has the characteristics of high sensitivity, wide application range and the like, and can be used for disease diagnosis and internal irradiation treatment. During diagnosis, the specific imaging equipment is used for tracking the rays emitted by nuclides, so that metabolic and functional information of the molecular level in the organism can be provided noninvasively and systematically, physiological and pathological changes are clarified earlier than morphological changes, and objective and real indexes are provided for early diagnosis, early treatment, mechanism research, curative effect prediction, evaluation and the like of diseases. During treatment, high-efficiency treatment of a local area can be realized by rays with different ranges, and damage to normal and peripheral tissues is reduced. Nuclear medicine has become an important means for screening and treating malignant tumors. In addition to tumor field application, nuclear medicine plays an important role in diagnosis and treatment of endocrine, cardiovascular, nervous system, bone, respiratory and other diseases.

The nuclear medicine diagnosis and treatment are accurate, and the precondition is that two major elements are: 1) An imaging device; 2) A molecular probe. In recent years, nuclear medicine imaging equipment has been developed at a high speed from single-function Single Photon Emission Computed Tomography (SPECT) and positron emission computed tomography (PET) to Single Photon Emission Computed Tomography (SPECT)/Computed Tomography (CT), PET/CT and PET/MR with fusion functions and anatomical images. By the 2015 year old, the number of SPECT (including SPECT/CT) 774 in China is increased by 17.5% compared with 2013; 240 PET (containing PET/CT) is increased by 22.4% compared with 2013; 6 PET/MR are newly added; the total number of SPECT and PET examinations is 210 ten thousand and 46 ten thousand respectively. In the United states of 3 hundred million people, 2100 PET cases exist, and the annual inspection amount is 200 ten thousand cases; nuclear medicine 2100 tens of thousands/7200 units. Compared with developed countries, nuclear medicine in China has a large improvement space. The national important planning outline has put the important emphasis on developing domestic equipment (complete machines of nuclear medicine imaging systems such as PET-CT/MRI, SPECT/SPECT-CT and the like). The enterprises such as the eastern China, the united shadow, the Mingfeng and the like have successively put forward high-end medical equipment PET/CT, are intended to break through the monopoly of the national enterprises (GPS), and have tried to enter the clinical application of the three-dimensional hospitals such as the auxiliary Zhongshan hospitals of the double denier university. The popularity of high-end nuclear medicine imaging devices is expected to be on the day.

In contrast to the rapid development of imaging devices, "molecular probes" are another element that restricts the development of nuclear medicine. Without molecular probes, nuclear medicine imaging equipment is "blind" and is not accurate. Molecular probes for nuclear medicine are characterized by the attachment of radionuclides to a targeting entity, commonly known as "labels". After the probe is injected into a living body, the targeting main body is combined with a specific target point of a lesion site, and the imaging equipment can dynamically track rays emitted by nuclides so as to monitor the functional change of the molecular level in real time. Thus "labeling" is a great concern in molecular probes.

How to quantitatively connect nuclides to a target body in a positioning way, but the specificity of the molecular probe can be ensured without changing the biological activity and the stability of the target body. Meanwhile, the nuclide has radioactivity, so the three protection principles of time, distance and shielding are observed to avoid the irradiation of operators. In summary, the formulation of labeling strategies directly affects the clinical application of probes.

However, in the prior art, the labeling work for nuclides is still a manual operation, and in the process, an operator must bear radioactive radiation, so that the body of the operator is seriously injured in an unavoidable way. Meanwhile, manual operation is low in efficiency and low in precision.

Disclosure of Invention

The technical scheme adopted for solving the technical problems is as follows: a nuclide labeling robot, comprising: the robot and the cutting ferrule are detachably arranged on the robot;

the robot includes: the robot comprises a robot upper body, a movable base and two robot arms, wherein the robot upper body is arranged on the movable base, the two robot arms are respectively arranged on two sides of the robot upper body, a platform is arranged at the top of the movable base, clamping grooves matched with clamping sleeves are formed in the platform, the two robot arms are respectively a grabbing arm and a suction head arm, a movable clamp is arranged at the end part of the grabbing arm, a suction nozzle is arranged at the end part of the suction head arm, a camera and an activity detection assembly are further arranged on the robot upper body, and the activity detection assembly is connected onto the robot upper body through a lifting arm;

the clamping sleeve is provided with a storage groove, a suction head groove, a heating groove and a filtering component, the clamping sleeve is also provided with an annular groove, the bottom of the annular groove is hollowed out, a boss is arranged in the middle of the annular groove, and a carbon rod is arranged in the middle of the boss.

The suction head grooves are used for placing suction heads, and the suction heads are matched with suction nozzles on the suction head arms.

The object placing grooves are used for placing the target liquid bottles, the ethanol bottles and the water bottles.

The further improvement is that the platform is provided with a through hole matched with the annular groove, and a waste liquid bottle is placed in the position corresponding to the through hole inside the platform.

The filter assembly is characterized in that the bottom of the filter assembly is communicated with the inside of the platform and corresponds to the position of a finished bottle in the platform.

The improvement is that the end part of the grabbing arm is also provided with a cover opener.

The laser radar is further improved to be arranged on the movable base.

The movable base is further improved in that a plurality of distance sensors are uniformly arranged on the periphery of the movable base.

The further improvement is that the side surface of the upper bottom of the movable base is also provided with a buffer cushion.

The movable base is further improved in that a three-dimensional depth sensor is arranged on the movable base.

The beneficial effects of the invention are as follows:

1. the nuclide labeling robot provided by the invention can realize the works of automatic labeling of nuclides, transfer of finished products, collection of waste liquid and the like without manual operation, thereby avoiding the operator from being damaged by the radiation of radioactive elements, and simultaneously greatly improving the operation efficiency and the operation precision.

2. The nuclide labeling robot provided by the invention can realize multi-nuclide multi-drug labeling through the replaceable cutting sleeve, explores and establishes a movable and autonomous identification nuclide finished labeling, repeatable multi-nuclide multi-drug labeling in the daytime and strong in universality, replaces people to operate in a radioactive special environment, reduces the working intensity and irradiation dose of operators to the greatest extent, meets urgent clinical requirements for radioactive drug diversification, reduces the requirements on environment, protection and other matched equipment, and reduces the labor cost and the radioactive drug operation cost.

Drawings

The invention will be further described with reference to the drawings and examples.

FIG. 1 is a schematic diagram of a nuclear labeling robot of the present invention;

FIG. 2 is a schematic side view of a nuclear labeling robot of the present invention;

fig. 3 is a schematic view of the ferrule structure of the present invention.

Reference numerals illustrate:

100-robot, 200-clamping sleeve, 110-robot upper body, 120-mobile base, 130-robot arm, 121-platform, 122-clamping groove, 131-grabbing arm, 1311-clamp, 1312-cover opener, 132-suction head arm, 111-camera, 112-activity detection component, 113-lifting arm, 1121-shielding cover, 210-placing groove, 220-suction head groove, 230-heating groove, 240-filtering component, 250-annular groove, 251-boss, 252-carbon rod, 260-two-dimensional code, 1-first suction head, 2-second suction head, 3-third suction head, 4-target liquid bottle, 5-ethanol bottle, 6-water bottle, 7-reaction bottle, 1211-waste liquid outlet, 1212-finished product outlet, 123-laser radar, 124-distance sensor, 125-buffer pad, 126-three-dimensional depth sensor.

Detailed Description

The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.

In the description of the invention, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the invention will be understood by those skilled in the art according to the specific circumstances.

As shown in fig. 1 and 2, the present invention provides a nuclide labeling robot, which is characterized by comprising: robot 100 and ferrule 200 detachably provided to the robot;

the robot includes: the robot comprises a robot upper body 110, a movable base 120 and two robot arms 130, wherein the robot upper body 110 is arranged on the movable base 120, a universal movable wheel driven by a motor is arranged below the movable base 120, the two robot arms 130 are respectively arranged on two sides of the robot upper body 110, each joint part of each robot arm 130 is provided with a 6-degree-of-freedom mechanical arm servo motor, each robot arm 130 is provided with 6 servo motors so as to enable the robot arms to move and rotate in each direction and each angle, the top of the movable base 120 is provided with a platform 121, the platform 121 is provided with a clamping groove 122 matched with a clamping sleeve 200, the clamping groove 122 is provided with a power connection joint, the clamping sleeve 200 is provided with an interface matched with the power connection joint, or the power connection modes of the clamping groove and the clamping sleeve can be exchanged; the two robot arms 130 are respectively a grabbing arm 131 and a suction head arm 132, the end part of the grabbing arm 131 is provided with a movable clamp 1311, the end part of the suction head arm 132 is provided with a suction nozzle, in this embodiment, the suction nozzle is provided with a camera 111 and an activity detection assembly 112 due to the work flow and the action, the upper body of the robot is further provided with a camera 111 for monitoring the position of the card sleeve 200, the positions of each part and the reagent bottle on the card sleeve 200 and the positions of the two robot arms 130 in real time, a controller controls the movement of the robot arms according to the information acquired by the camera 111 and performs corresponding actions, the activity detection assembly 112 is connected to the upper body 110 of the robot through a lifting arm 113, the activity detection assembly 112 comprises a radioactivity detection module and a shielding cover 1121, the radioactivity detection module is arranged in the shielding cover 1121, and the shielding cover 1121 is covered on a ring-shaped groove 250 on the card sleeve 200 for shielding rays so as to improve the accuracy of activity detection;

as shown in fig. 3, the ferrule 200 is provided with a storage tank 210, a suction head tank 220, a heating tank 230 and a filtering component 240, and is further provided with an annular groove 250, the bottom of the annular groove 250 is hollow, a boss 251 is provided in the middle of the annular groove, a carbon rod 252 is provided in the middle of the boss 251, the carbon rod 252 is movably inserted into the boss 251, and the upper edge of the boss 251 is arc-shaped, so that liquid can flow into the waste liquid bottle downwards. The reaction flask 7 is placed in the heating tank 230, and the bottom and/or the side wall of the heating tank 230 is provided with a heater to keep the heating tank heated at a constant temperature. The filter assembly 240 is a 0.22 μm sterile filter membrane for filtering the finished liquid.

In another embodiment, the card sleeve 200 is further provided with a two-dimensional code 260, and the robot reads the two-dimensional code through the camera, so as to obtain information such as which nuclide is specific on the card sleeve. Specifically, the two-dimensional code correspondence information includes: the species of nuclides, the species of labeling precursors, and the desired labeling process, such as reaction time temperature, etc., can be categorized as labeling schemes.

Further, the plurality of suction head grooves 220 are used for placing suction heads, and the suction heads are matched with suction nozzles on the suction head arms. In this embodiment, there are three tip channels, and a first tip 1, a second tip 2, and a third tip 3 are placed in each of the three tip channels.

In a further improvement, the plurality of storage tanks 210 are used for storing the target liquid bottles 4, the ethanol bottles 5 and the water bottles 6.

In a further improvement, the platform 121 is provided with a through hole matched with the annular groove 250, and a waste liquid bottle is placed in the platform 121 corresponding to the through hole. The side of the platform 121 has a waste outlet 1211, and when the waste bottle is full, it can be removed from the waste outlet 1211.

Further, the bottom of the filter assembly 240 is communicated with the interior of the platform and corresponds to the position of the finished bottle in the platform. The platform is internally provided with a wheel-type finished bottle rack for placing a plurality of finished bottles, and meanwhile, the platform is provided with a lifting assembly for lifting the finished bottles, after finished products are filled in the finished bottles, the lifting assembly lifts the finished bottles out through a finished product outlet 1212 on the platform, the finished bottles are grabbed by grabbing arms, and the finished bottles are placed in the lead tank.

In a further improvement, an end of the gripping arm 131 is further provided with a cap opener 1312. The cap opener is used for opening the caps of the target liquid bottle, the ethanol bottle, the water bottle and the reaction bottle.

Further, a laser radar 123 is disposed on the mobile base 120. And the robot moving route planning device is used for detecting the moving route of the robot in real time, and when detecting that the moving route planned currently has an obstacle, planning the moving route again.

Further, a plurality of distance sensors 124 are uniformly disposed on the upper periphery of the movable base 120.

Further, a cushion 125 is provided on the side of the upper bottom of the movable base 120. When the robot touches an obstacle, the buffer function can be achieved.

Further, the mobile base 120 is provided with a three-dimensional depth sensor 126. The method is used for detecting the multipoint distance of the surrounding environment in the monitoring range in real time.

The operation flow and steps of the robot are briefly described as follows:

(1) The robot 100 moves to the front of the clamping sleeve 200, the clamping sleeve 200 is clamped into a clamping groove of the robot through the clamping arm 131131, the two-dimensional code 260 is identified, and the nuclide marked is confirmed.

(2) The robot moves to the front of the nuclide distribution device (used for molybdenum technetium generator, germanium gallium generator, nuclide produced by the cyclotron can be directly transmitted to a marking room, 89Zr can be purchased in an inlet), then a wireless signal is sent, and the nuclide distribution device starts automatic distribution of nuclides.

(3) The dispensed target liquid bottle 4 is placed at a prescribed position of the robot upper chuck 200 by the gripping arm 131.

(4) The suction head arm is automatically provided with suction heads, and the first suction head 1, the second suction head 2 and the third suction head 3 are arranged at fixed positions of the arm.

(5) The lid of the water 6, ethanol 5 and reaction bottle 7 is opened by the lid opener 1312.

(6) The water 6 is sucked by the first suction head 1 on the suction head arm 132 and dropped into the target liquid bottle 4 for dilution, and then sucked by the first suction head 1 and dropped into the reaction bottle 7.

(7) The reaction flask 7 is heated by the heating bath 230.

(8) The liquid sucked up by the reaction flask 7 through the second suction head 2 on the suction head arm 132 is poured into the carbon rod 252.

(9) The water 6 is sucked by the third suction head 3 on the suction head arm 132 and injected into the carbon rod 252 for cleaning.

(10) The activity detection assembly 112 is lowered to perform activity detection on the cleaned carbon rod (C18 pillar) 252.

(11) The disc type finished product bottle warehouse and the waste liquid recovery bottle are arranged below the cutting sleeve 200, the waste liquid bottle is connected below the carbon rod in the purifying process of the carbon rod, and the liquid leached by the carbon rod is completely refluxed to the waste liquid bottle.

(12) After the purification and rinsing, the gripper arm 131 grips the carbon rod and places it on the filter assembly 240.

(13) The ethanol 5 is sucked up through the third suction head 3 on the suction head arm 132 to wash the carbon rod 252, and the carbon rod is sterilized through the filter membrane of the filter assembly 240.

(14) The finished bottle warehouse is connected below the filter assembly 240, and the sterilized product is directly injected into the finished bottle.

(15) The finished bottle is ejected from the finished outlet 1212.

(16) The suction head arm automatically unloads the first suction head 1, the second suction head 2 and the third suction head 3 back to the fixed position of the clamping sleeve 200.

(17) The robot moves to the front of the clamping sleeve and the recycling bin, and the clamping sleeve 200 is grabbed to the clamping sleeve recycling bin through the grabbing arm 131.

(18) The robot moves to the transfer window and, by gripping arm 131, takes the finished bottle out of the finished outlet 1212 and places it in the lead can in the transfer window.

With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by the workers in many cases to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the contents in the specification, and must be determined according to the scope of claims.

Claims

1. A nuclide labeling robot, comprising: the robot and the cutting ferrule are detachably arranged on the robot;

the clamping sleeve is provided with a storage groove, a suction head groove, a heating groove and a filtering component, the clamping sleeve is also provided with an annular groove, the bottom of the annular groove is hollowed out, a boss is arranged in the middle of the annular groove, and a carbon rod is arranged in the middle of the boss;

the suction head grooves are used for placing suction heads, and the suction heads are matched with suction nozzles on the suction head arms;

the object placing grooves are used for placing target liquid bottles, ethanol bottles and water bottles.

2. The nuclide labeling robot of claim 1, wherein the platform is provided with a through hole matched with the annular groove, and a waste liquid bottle is placed in the platform corresponding to the through hole.

3. The nuclear labeling robot of claim 1 wherein the filter assembly bottom communicates with the interior of the platform and corresponds to the position of the finished bottle within the platform.

4. A nuclide marking robot as claimed in any one of claims 1 to 3 wherein the end of the gripping arm is further provided with a cap opener.

5. The nuclear marker robot of claim 1 wherein the mobile base is provided with a lidar.

6. The nuclear labeling robot of claim 5, wherein a plurality of distance sensors are uniformly disposed on an upper periphery of the moving base.

7. The nuclide marker robot of claim 6, wherein the upper bottom side of the mobile base is further provided with a cushion.

8. The nuclear marker robot of claim 1 wherein the mobile base is provided with a three-dimensional depth sensor.