CN108969878A - A kind of prostate comprehensive close-range particle implantation robot - Google Patents

Abstract

The invention discloses a kind of comprehensive close-range particles of prostate to be implanted into robot, it is related to medical instruments field, is made of position adjusting mechanism, cross joint attitude-adjusting system, ultrasound image navigation module, seeds implanted module, operation trolley；Position and the posture of ultrasonic probe can be adjusted, the feeding of ultrasonic probe is realized and around own axes rotary motion, obtains a series of sequence ultrasound image by controlling motor；Under the guidance of ultrasound image, by controlling seeds implanted module, the seeds implantation operation of prostate cancer is completed；The present invention can overcome the fatigue operation of doctor during conventional particle implant surgery, and the positioning accuracy and stability of manual operation are low, to the defect of the dependence of doctor personal experience in therapeutic process, improve the efficiency of operation and the precision of seeds implanted.

Description

A kind of prostate comprehensive close-range particle implantation robot

Technical field

The invention belongs to medical instruments fields, are implanted into machine more particularly to a kind of comprehensive close-range particle of prostate People.

Background technique

Related data shows that prostate cancer is common one of the malignant tumour of current male.In worldwide, forefront The disease incidence and lethality of gland cancer rise year by year, and patient tends to rejuvenation, are the important diseases for threatening human health.Radioactivity Seeds implanted treatment has the advantages that wound is small, treats block, few side effects and incidence of complications are low etc., has become at present The main method for treating prostate cancer.Seeds implantation is under the guidance of the image documentation equipments such as ultrasound, and use is dedicated Seeds implanted device radioactive particle is implanted to the target area of target organ through skin.

The seeds implanted method that clinically generallys use at present, be in manual ultrasound guidance, it is super by means of being mounted on Guide plate on sound, clinician by virtue of experience manually complete seeds implanted process mostly, and perform the operation every time need to be implanted into it is up to a hundred Radioactive particle.Doctor's large labor intensity in surgical procedure, low efficiency, the positioning accuracy of manual operation also it is difficult to ensure that.Together When due to the movement of patient body, the position movement of prostate and tissue edema deformation etc., accurate determination is difficult in art Lesion point.Treatment results depend on personal experience and the level of doctor, easily damage to patient and lead to therapeutic efficiency Reduction.

CN104548328A discloses a kind of minimally invasive local radiotherapy robot apparatus, which pertains only to ultrasonic probe Rotation and feed motion adjustment, in carrying out prostate biopsy or prostate seeds implanted surgical procedure, it is also necessary to Yi Shengtong It crosses hand-held cell taking gun or seeds implanted device completes operation.Its rotate horizontally and pitch adjustment mechanism and end effector mechanism it Between transmission distance, horizontal rotary mechanism using turbine and worm be driven, easily influence positioning accuracy.

CN103919577A discloses a kind of cantilevered prostate biopsy robot, which uses compound parallelogram Mechanism ensure that execute end is in horizontality always.But the robot only has three degree of freedom, therefore can only use water Flat inserting needle limits the angle of inserting needle.

Summary of the invention

The technical problem to be solved in the present invention: to overcome the fatigue of doctor during conventional particle implant surgery to operate, The positioning accuracy and stability of manual operation are low, to the defect of the dependence of doctor personal experience in therapeutic process, to provide A kind of prostate comprehensive close-range particle implantation robot.

A kind of comprehensive close-range particle of prostate of the invention is implanted into robot, it contains position adjusting mechanism, ten Word joint attitude-adjusting system, ultrasound image navigation module, seeds implanted module, operation trolley, it is characterised in that: described ten Word joint attitude-adjusting system include servo motor I, motor base II, retarder I, Z axis runing rest, X-axis runing rest, Retarder II, servo motor II, cross joint attitude-adjusting system are arranged on the ladder pedestal of dynamic slide unit, the retarder It is provided with motor base II below I, the servo motor I is mounted on to the lower section of motor base II by 4 screws, is subtracted The output flange of fast device I is fixedly connected with the flange fastener hole I of the Z axis runing rest, and servo motor I drives retarder I Output flange, so that cross joint attitude-adjusting system is realized rotary motion about the z axis, the retarder of Z axis runing rest one end is solid 1 dowel hole and 4 threaded hole II are offered in reservation, are consolidated the retarder II by 1 positioning pin and 4 screws In retarder fixing seat, the servo motor II is fixed on the motor base III of Z axis runing rest, described for Dingan County The both ends of X-axis runing rest offer attachment base, 6 flange fastener hole II are offered on attachment base, are run through by 6 screws Attachment base is fixedly connected by flange fastener hole II with the output flange of retarder II, and servo motor II drives the output of retarder II Flange makes cross joint attitude-adjusting system realize rotary motion around X-axis；The ultrasound image navigation module includes Y-axis Slipway mechanism, ultrasonic probe rotating mechanism, puncture template, ultrasonic probe, the ultrasonic probe rotating mechanism include rotation Bracket, outer fixing seat, fixed bracket, support shaft, bracket, bracket base, stepper motor, shaft coupling I, the puncture template packet Guide plate, shuttering supporting axis, guide plate cage knob, guide-board base, template connecting shaft are included, is provided with navigation hole and circular cone on the guide plate The just above of X-axis runing rest is arranged in arc slot, the slid platform base II of ultrasound image navigation module, and the motor II drives Y The movement of axis slipway mechanism in the Y-axis direction, the manual pulley being arranged on motor II can under emergency or power blackout situation, Ultrasound image navigation module is moved backward by can be manually rotated manual pulley, being provided with outer fixation on the support plate II Seat and bracket base are provided with rotatable runing rest in outer fixing seat, pass through 3 between the bracket and runing rest Bracket axis connection is provided with the fixation bracket among support shaft, and fixed bracket is for being fixed at bracket and rotation branch Ultrasonic probe on frame, the output shaft of the stepper motor it is affixed by shaft coupling I device and bracket, it can be achieved that ultrasonic probe around The rotary motion of Y direction, obtains the sequence ultrasound image of prostate focal area, and the guide-board base is connected by template One end of axis and slid platform base II is affixed, the both ends of guide-board base be provided with can up and down adjustment shuttering supporting axis, the liter Drop cage knob is provided with guide plate above shuttering supporting axis for locking shuttering supporting axis；The seeds implanted module includes grain Sub- implanting gun, X-axis fixed point mechanism and Z axis pinpoint mechanism, and the particle implanting gun includes outer needle control motor, the control of interior needle Motor, shaft coupling II, shaft coupling III, drum pedestal, lead screw II, lead screw III, nut sliding sleeve I, interior needle mounting base, feed screw nut II, feed screw nut III, nut sliding sleeve II, outer needle mounting base, particle cartridge clip storehouse, particle gun platform, interior needle, outer needle, needle fixed frame, Described X-axis fixed point mechanism include motor III, motor mounting plate, shaft coupling IV, feed screw nut IV, linear bearing, lead screw IV, Feed rod I, particle gun connecting plate, truss frame for connecting, the Z axis fixed point mechanism include motor IV, Connection Bracket, motor connection Seat, lead screw V, feed rod II, nut slide unit connect stand, offer 2 M6 on the Connection Bracket of the Z axis fixed point mechanism Connection Bracket is fixed on the slid platform base II of Y-axis slipway mechanism, under Connection Bracket upper plate by threaded hole by screw Side is provided with motor connecting base, and the motor IV is mounted below motor connecting base, the company of being provided with above Connection Bracket Stand is connect, the lead screw V and feed rod II are mounted in connection stand, the output axis connection of lead screw V and motor IV；Lead screw V and Nut slide unit is provided on feed rod II, nut slide unit is threadedly coupled with lead screw V, and the truss frame for connecting of the X-axis fixed point mechanism is solid It connects in the side of nut slide unit, the other side of nut slide unit is arranged in motor mounting plate, and the motor III is mounted on motor peace Lead screw IV and feed rod I are provided in loading board, on truss frame for connecting, lead screw IV is connect with the output shaft of motor III by shaft coupling IV, It is provided with feed screw nut IV on lead screw IV, linear bearing is provided on feed rod I, the particle gun connecting plate is fixed in lead screw spiral shell On female IV and linear bearing, it is provided with particle implanting gun below particle gun connecting plate, motor IV drives lead screw V rotation, can be with Move particle implanting gun in the Z-axis direction, motor III drives lead screw IV rotation, can make particle implanting gun in the X-axis direction It is mobile.

Preferably, the center 80mm × 80mm is provided on the guide plate away from the array navigation hole for 4mm, navigation hole Front end offers circular cone arc slot, and the edge of each circular cone arc slot is tangent；Error if it exists, when the outer needle is close to guide plate, outer needle Needle point on circular cone arc slot, outer needle can slide into navigation hole along circular cone arc slot.

Preferably, the particle gun platform of the particle implanting gun is arranged below particle gun connecting plate, the work The rear end of particle gun platform is arranged in type pedestal, and outer needle control motor and interior needle control motor are equipped on drum pedestal；Outer needle control The output shaft of motor processed is connect by shaft coupling II with the lead screw II being arranged on particle gun platform, the output shaft of interior needle control motor Lead screw III connection on particle gun platform is set by shaft coupling III；Nut sliding sleeve I and feed screw nut are provided on lead screw II III, lead screw II are connected through a screw thread with feed screw nut III, and feed screw nut II and nut sliding sleeve II, silk are provided on lead screw III Thick stick III is connected through a screw thread with feed screw nut II；The interior needle mounting base is mounted on nut sliding sleeve I and feed screw nut II, Interior needle is provided in interior needle mounting base；The outer needle mounting base is mounted on feed screw nut III and nut sliding sleeve II, outer needle peace Particle cartridge clip storehouse is provided on dress seat, the bottom end of the outer needle passes through the inside in particle cartridge clip storehouse, and outer needle is solid in the needle Determine to move on frame, needle fixed frame can play the role of support during outer needle is mobile, prevent the bending of outer needle.

Preferably, the position adjusting mechanism includes X-axis slipway mechanism and Z axis lift adjustment mechanism；The X Axis slipway mechanism includes track slide unit, lead screw I, feed screw nut I, screw slider, rail slider, slid platform base I, bumper, electricity Machine base I, motor I, support plate I；Track slide unit is respectively arranged at left and right sides of the slid platform base I, each track is sliding 2 rail sliders are provided on platform, rail slider can be in the cofree sliding of track slide unit；The motor base I installation In one end of slid platform base I, motor I is fixedly connected on motor base I by 4 screws, the lead screw I and motor I Output axis connection, the feed screw nut I is threadedly coupled with lead screw I, and screw slider, lead screw spiral shell are provided on feed screw nut I The side of female I and the other side of screw slider are respectively arranged with bumper, and screw slider and 4 rail sliders are in same level Face, the support plate I are mounted on screw slider and 4 rail sliders, lead screw I rotation are driven by motor I, to make silk Screw slider on thick stick nut drives support plate I movement, realizes the movement of X-axis slipway mechanism in the X direction, the Z axis liter Drop adjustment mechanism is fixedly connected on the supporting plate, and Z axis lift adjustment mechanism includes determining pedestal and dynamic slide unit, by determining on pedestal Slideway groove on slideway boss and dynamic slide unit is cooperatively connected, and realizes Z axis lift adjustment mechanism in the Bidirectional slide of Z-direction； The operation trolley includes universal wheel, drawer, bowhandle, and the slid platform base I of X-axis slipway mechanism is equipped with stepped hole, X-axis slipway mechanism is fixed on operation trolley by bolt and nut.

The invention has the benefit that

(1) cross joint attitude-adjusting system is mounted on the dynamic slide unit of Z axis lift adjustment mechanism, so that compact-sized, cross Joint attitude-adjusting system uses the driving method of servo motor and retarder, improves positioning accuracy and increases output and turns round Square；

(2) seeds implanted module is mounted on the slid platform base II of Y-axis slipway mechanism, position and posture in adjustment ultrasonic probe In the process, the interior needle of particle gun and outer needle remain in the sagittal plane of ultrasonic probe, therefore in ultrasound image, Yi Shengke To be clearly apparent the inserting needle track of interior needle and outer needle, the puncture precision of seeds implanted is improved；

(3) center 80mm × 80mm is provided on guide plate away from the array navigation hole for 4mm, the front end of navigation hole offers circular cone arc The edge of slot, each circular cone arc slot is tangent, if it exists error, when outer needle is close to guide plate during seeds implanted, the needle point of outer needle On circular cone arc slot, outer needle can slide into navigation hole along circular cone arc slot, can eliminate the influence of error bring；

(4) it is provided with manual pulley on the driving motor of Y-axis slipway mechanism, in case of emergency, prostate close-range particle is planted Entering robot can stop rapidly.It can be realized by manual pulley manually retracted to safety zone, improve safety；

(5) bowhandle for trolley of performing the operation is designed to integrated structure, succinctly easily held, implementation is laborsaving, and doctor is carrying out hand When art, operation trolley can be moved at specified hospital bed, the universal wheel that brake switch carrys out Suo Si operation pallet bottom is pressed, prevent It only moves in the course of surgery, this moveable operation trolley improves the flexible of prostate close-range particle implantation robot Property.

Detailed description of the invention:

Detailed description will be given by the following detailed implementation and drawings by the present invention for ease of explanation,.

Fig. 1 is structure of the invention general illustration；

Fig. 2 is the structural schematic diagram of position of the present invention and cross joint attitude-adjusting system；

Fig. 3 is the structural schematic diagram of X-axis slipway mechanism of the present invention；

Fig. 4 is the structural schematic diagram of the dynamic slide unit of the present invention；

Fig. 5 is the structural schematic diagram of cross joint of the present invention attitude-adjusting system；

Fig. 6 is the structural schematic diagram of Z axis runing rest of the present invention；

Fig. 7 is the structural schematic diagram of X-axis runing rest of the present invention；

Fig. 8 is the structural schematic diagram of ultrasonic probe attitude-adjusting system of the present invention；

Fig. 9 is the structural schematic diagram of guide plate of the present invention；

Figure 10 is the structural schematic diagram of seeds implanted module position adjustment mechanism of the present invention；

Figure 11 is the structural schematic diagram of particle implanting gun of the present invention；

Figure 12 is the structural schematic diagram of present invention operation trolley.

In figure: 1 position adjusting mechanism, 1-1X axis slipway mechanism, 1-1-1 track slide unit, 1-1-2 lead screw I, 1-1-3 lead screw Nut I, 1-1-4 screw slider, 1-1-5 rail slider, 1-1-6 slid platform base I, 1-1-7 bumper, 1-1-8 motor base, 1- It is dynamic that 1-9 motor I, 1-1-10 support plate I, 1-2Z axis lift adjustment mechanism, 1-2-1 determine pedestal, 1-2-1-1 slideway boss, 1-2-2 Slide unit, 1-2-2-1 slideway groove, 1-2-2-2 ladder pedestal, 1-2-2-3 threaded hole I, 2 cross joint attitude-adjusting systems, 2-1 Servo motor I, 2-2 motor base II, 2-3 retarder I, 2-4Z axis runing rest, 2-4-1 flange fastener hole I, 2-4-2 slow down Device fixing seat, 2-4-3 threaded hole II, 2-4-4 dowel hole, 2-4-5 motor base III, 2-5X axis runing rest, 2-5-1 method Blue fastener hole II, 2-5-2 attachment base, 2-6 retarder II, 2-7 servo motor II, 3 ultrasound image navigation modules, 3-1Y axis slide unit Mechanism, 3-1-1 slid platform base II, 3-1-2 support plate II, 3-1-3 manual pulley, the rotation of 3-1-4 motor II, 3-2 ultrasonic probe The outer fixing seat of mechanism, 3-2-1 runing rest, 3-2-2, the fixed bracket of 3-2-3,3-2-4 support shaft, 3-2-5 bracket, 3-2-6 support Frame pedestal, 3-2-7 stepper motor, 3-2-8 shaft coupling I, 3-3 puncture template, 3-3-1 guide plate, 3-3-1-1 navigation hole, 3-3-1-2 Circular cone arc slot, 3-3-2 shuttering supporting axis, 3-3-3 lifting cage knob, 3-3-4 guide-board base, 3-3-5 template connecting shaft, 3-4 ultrasound Probe, the outer needle control motor of 4 seeds implanted modules, 4-1 particle implanting gun, 4-1-1, needle control motor, 4-1-3 connection in 4-1-2 Axis device II, 4-1-4 shaft coupling III, 4-1-5 drum pedestal, 4-1-6 lead screw II, 4-1-7 lead screw III, 4-1-8 nut sliding sleeve I, Needle mounting base, 4-1-10 feed screw nut II, 4-1-11 feed screw nut III, 4-1-12 nut sliding sleeve II, 4-1-13 spiral shell in 4-1-9 The outer needle mounting base of female sliding sleeve II, 4-1-13,4-1-14 particle cartridge clip storehouse, 4-1-15 particle gun platform, needle in 4-1-16, outside 4-1-17 Needle, 4-1-18 needle fixed frame, 4-2X axis fixed point mechanism, 4-2-1 motor III, 4-2-2 motor mounting plate, 4-2-3 shaft coupling IV, 4-2-4 feed screw nut IV, 4-2-5 linear bearing, 4-2-6 lead screw IV, 4-2-7 feed rod I, 4-2-8 particle gun connecting plate, 4-2-9 Truss frame for connecting, 4-3Z axis pinpoint mechanism, 4-3-1 motor IV, 4-3-2 Connection Bracket, 4-3-3 motor connecting base, 4-3-4 lead screw V, 4-3-5 feed rod II, 4-3-6 nut slide unit, 4-3-7 connection stand, 5 operation trolleys, 5-1 universal wheel, 5-2 drawer, 5-3 arc Handle.

Specific embodiment:

In order to make the objectives, technical solutions and advantages of the present invention clearer, below by specific implementation shown in the accompanying drawings Example describes the present invention.However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit the scope of the invention.This Outside, in the following description, descriptions of well-known structures and technologies are omitted, so as not to unnecessarily obscure the concept of the present invention.

As shown in Figures 1 to 12, present embodiment use following technical scheme: it contain position adjusting mechanism 1, Cross joint attitude-adjusting system 2, ultrasound image navigation module 3, seeds implanted module 4, operation trolley 5, it is characterised in that: institute The cross joint attitude-adjusting system 2 stated includes servo motor I2-1, motor base II 2-2, retarder I2-3, Z axis rotation Bracket 2-4, X-axis runing rest 2-5, retarder II 2-6, servo motor II 2-7, cross joint attitude-adjusting system 2 are arranged On the ladder pedestal 1-2-2-2 of dynamic slide unit 1-2-2, motor base II 2-2 is provided with below the retarder I2-3, The servo motor I2-1 is mounted on to the lower section of motor base II 2-2, the output method of retarder I2-3 by 4 screws The blue flange fastener hole I2-4-1 with the Z axis runing rest 2-4 is fixedly connected, and servo motor I2-1 drives retarder I2-3 Output flange, so that cross joint attitude-adjusting system 2 is realized rotary motion, the deceleration of the one end Z axis runing rest 2-4 about the z axis 1 dowel hole 2-4-4 and 4 threaded hole II2-4-3 are offered on device fixing seat 2-4-2, pass through 1 positioning pin and 4 spiral shells The retarder II2-6 is fixedly mounted on retarder fixing seat 2-4-2 by nail, and the servo motor II2-7 is fixed in Z On the motor base III2-4-5 of axis runing rest 2-4, the both ends of the X-axis runing rest 2-5 offer attachment base 2-5- 6 flange fastener hole II2-5-1 are offered on 2, attachment base 2-5-2, it will through flange fastener hole II2-5-1 by 6 screws Attachment base 2-5-2 is fixedly connected with the output flange of retarder II2-6, and servo motor II2-7 drives the output of retarder II2-6 Flange makes cross joint attitude-adjusting system 2 realize rotary motion around X-axis；The ultrasound image navigation module 3 includes Y Axis slipway mechanism 3-1, ultrasonic probe rotating mechanism 3-2, puncture template 3-3, ultrasonic probe 3-4, the ultrasonic probe rotation Mechanism 3-2 include runing rest 3-2-1, outer fixing seat 3-2-2, fixed bracket 3-2-3, support shaft 3-2-4, bracket 3-2-5, Bracket base 3-2-6, stepper motor 3-2-7, shaft coupling I3-2-8, the puncture template 3-3 include guide plate 3-3-1, template Support shaft 3-3-2, guide plate cage knob 3-3-3, guide-board base 3-3-4, it is arranged on template connecting shaft 3-3-5, the guide plate 3-3-1 There are navigation hole 3-3-1-1 and circular cone arc slot 3-3-1-2, the slid platform base II3-1-1 of ultrasound image navigation module 3 is arranged in X-axis Runing rest 2-5's is just above, the movement of the motor II3-1-4 driving Y-axis slipway mechanism 3-1 in the Y-axis direction, motor The manual pulley 3-1-3 being arranged on II3-1-4 can be under emergency or power blackout situation, by can be manually rotated manual pulley 3- 1-3 moves backward ultrasound image navigation module 3, and outer fixing seat 3-2-2 and bracket are provided on the support plate II3-1-2 Rotatable runing rest 3-2-1, the bracket 3-2-5 and rotation branch are provided on pedestal 3-2-6, outer fixing seat 3-2-2 Pass through 3 support shaft 3-2-4 connections between frame 3-2-1, the fixation bracket 3-2-3 is provided among support shaft 3-2-4, Gu The ultrasonic probe 3-4 that fixed rack 3-2-3 is used to be fixed on bracket 3-2-5 and runing rest 3-2-1, the stepping electricity The output shaft of machine 3-2-7 is affixed, it can be achieved that ultrasonic probe 3-4 is around Y direction by shaft coupling I3-2-8 device and bracket 3-2-5 Rotary motion, obtains the sequence ultrasound image of prostate focal area, and the guide-board base 3-3-4 passes through template connecting shaft 3- One end of 3-5 and slid platform base II3-1-1 are affixed, the both ends of guide-board base 3-3-4 be provided with can up and down adjustment shuttering supporting Axis 3-3-2, the lifting cage knob 3-3-3 are for locking shuttering supporting axis 3-3-2, the top setting of shuttering supporting axis 3-3-2 There is guide plate 3-3-1；The seeds implanted module 4 includes that particle implanting gun 4-1, X-axis fixed point mechanism 4-2 and Z axis pinpoint mechanism 4-3, the particle implanting gun 4-1 include outer needle control motor 4-1-1, the control of interior needle motor 4-1-2, shaft coupling II4-1- 3, shaft coupling III4-1-4, drum pedestal 4-1-5, lead screw II4-1-6, lead screw III4-1-7, nut sliding sleeve I4-1-8, interior needle peace Fill seat 4-1-9, feed screw nut II4-1-10, feed screw nut III4-1-11, nut sliding sleeve II4-1-12, outer needle mounting base 4-1- 13, particle cartridge clip storehouse 4-1-14, particle gun platform 4-1-15, interior needle 4-1-16, outer needle 4-1-17, needle fixed frame 4-1-18, it is described X-axis fixed point mechanism 4-2 include motor III4-2-1, motor mounting plate 4-2-2, shaft coupling IV4-2-3, feed screw nut IV4-2- 4, linear bearing 4-2-5, lead screw IV4-2-6, feed rod I4-2-7, particle gun connecting plate 4-2-8, truss frame for connecting 4-2-9, it is described It includes motor IV4-3-1, Connection Bracket 4-3-2, motor connecting base 4-3-3, lead screw V4-3-4, feed rod that Z axis, which pinpoints mechanism 4-3, II4-3-5, nut slide unit 4-3-6, stand 4-3-7 is connected, is opened on the Connection Bracket 4-3-2 of the Z axis fixed point mechanism 4-3 Equipped with 2 M6 threaded hole 4-3-2-1, Connection Bracket 4-3-2 is fixed in the slide unit bottom of Y-axis slipway mechanism 3-1 by screw On seat II3-1-1, motor connecting base 4-3-3, the motor IV4-3-1 are provided with below Connection Bracket 4-3-2 upper plate It is mounted below motor connecting base 4-3-2, connection stand 4-3-7, the lead screw is provided with above Connection Bracket 4-3-2 V4-3-4 and feed rod II4-3-5 is mounted in connection stand, the output axis connection of lead screw V4-3-4 and motor IV4-3-1；Lead screw Nut slide unit 4-3-6 is provided on V4-3-4 and feed rod II4-3-5, nut slide unit 4-3-6 is threadedly coupled with lead screw V4-3-4, institute The truss frame for connecting 4-2-9 of the X-axis fixed point mechanism 4-2 stated is fixed in the side of nut slide unit 4-3-6, and motor mounting plate 4-2-2 is set It sets in the other side of nut slide unit 4-3-6, the motor III4-2-1 is mounted on motor mounting plate 4-2-2, truss frame for connecting Lead screw IV4-2-6 and feed rod I4-2-7 are provided on 4-2-9, the output shaft of lead screw IV4-2-6 and motor III4-2-1 passes through connection The IV4-2-3 connection of axis device is provided with feed screw nut IV4-2-4 on lead screw IV4-2-6, is provided with linear bearing on feed rod I4-2-7 4-2-5, the particle gun connecting plate 4-2-8 are fixed on feed screw nut IV4-2-4 and linear bearing 4-2-5, and particle gun connects Particle implanting gun 4-1 is provided with below fishplate bar 4-2-8, motor IV4-3-1 drives lead screw V4-3-4 rotation, particle can be made to plant Enter rifle 4-1 to move in the Z-axis direction, motor III4-2-1 drives lead screw IV4-2-6 rotation, and particle implanting gun 4-1 can be made in X It is moved in axis direction.

Further, the center 80mm × 80mm is provided with away from the array for 4mm on the guide plate 3-3-1 as shown in Figure 9 Navigation hole 3-3-1-1, the front end of navigation hole 3-3-1-1 offer circular cone arc slot 3-3-1-2, the side of each circular cone arc slot 3-3-1-2 Edge is tangent；Error if it exists, when the outer needle 4-1-12 is close to guide plate 3-3-1, the needle point of outer needle 4-1-12 is in circular cone arc slot On 3-3-1-2, outer needle 4-1-12 can slide into navigation hole 3-3-1-1 along circular cone arc slot 3-3-1-2.

Further, as shown in figure 11, the particle gun platform 4-1-15 setting of the particle implanting gun 4-1 connects in particle gun Below fishplate bar 4-2-8, the drum pedestal 4-1-5 is arranged in the rear end of particle gun platform 4-1-15, on drum pedestal 4-1-5 Outer needle control motor 4-1-1 and interior needle control motor 4-1-2 are installed；The output shaft of outer needle control motor 4-1-1 passes through shaft coupling Device II4-1-3 is connect with the lead screw II4-1-6 being arranged on particle gun platform 4-1-15, the output shaft of interior needle control motor 4-1-2 Lead screw III4-1-7 connection on particle gun platform 4-1-15 is set by shaft coupling III4-1-4；It is arranged on lead screw II4-1-6 There are nut sliding sleeve I4-1-8 and feed screw nut III4-1-11, lead screw II4-1-6 and feed screw nut III4-1-11 are connected by screw thread It connects, feed screw nut II4-1-10 and nut sliding sleeve II4-1-12, lead screw III4-1-7 and lead screw is provided on lead screw III4-1-7 Nut II4-1-10 is connected through a screw thread；The interior needle mounting base 4-1-9 is mounted on nut sliding sleeve I4-1-8 and feed screw nut On II4-1-10, interior needle 4-1-16 is provided on interior needle mounting base 4-1-9；The outer needle mounting base 4-1-13 is mounted on lead screw On nut III4-1-11 and nut sliding sleeve II4-1-12, particle cartridge clip storehouse 4-1-14, institute are provided on outer needle mounting base 4-1-13 The bottom end of the outer needle 4-1-17 stated passes through the inside of particle cartridge clip storehouse 4-1-14, and outer needle 4-1-17 is in the needle fixed frame 4-1- It is moved on 18, needle fixed frame 4-1-18 can play the role of support during outer needle 4-1-17 is mobile, prevent outer needle 4- The bending of 1-17.

Further, as shown in Fig. 2, Fig. 3, Fig. 4, Figure 12, the position adjusting mechanism 1 includes X-axis slipway mechanism 1-1 and Z axis lift adjustment mechanism 1-2；The X-axis slipway mechanism 1-1 includes track slide unit 1-1-1, lead screw I1-1-2, lead screw Nut I1-1-3, screw slider 1-1-4, rail slider 1-1-5, slid platform base I1-1-6, bumper 1-1-7, motor base I1- 1-8, motor I1-1-9, support plate I1-1-10；Track slide unit is respectively arranged at left and right sides of the slid platform base I1-1-6 2 rail slider 1-1-5 are provided on 1-1-1, each track slide unit 1-1-1, rail slider 1-1-5 can be in track slide unit 1- The cofree sliding of 1-1；The motor base I1-1-8 is mounted on one end of slid platform base I1-1-6, will by 4 screws Motor I1-1-9 is fixedly connected on motor base I1-1-8, and the output shaft of the lead screw I1-1-2 and motor I1-1-9 connect It connects, the feed screw nut I1-1-3 is threadedly coupled with lead screw I1-1-2, and screw slider 1- is provided on feed screw nut I1-1-3 The side of 1-4, feed screw nut I1-1-3 and the other side of screw slider 1-1-4 are respectively arranged with bumper 1-1-7, screw slider 1-1-4 and 4 rail slider 1-1-5 is mounted on screw slider 1-1-4 and 4 in same level, the support plate I1-1-10 On a rail slider 1-1-5, lead screw I1-1-2 rotation is driven by motor I1-1-9, to make the silk on feed screw nut 1-1-3 Thick stick sliding block 1-1-4 drives support plate I1-1-10 movement, realizes the movement of X-axis slipway mechanism 1-1 in the X direction, the Z axis Lift adjustment mechanism 1-2 is fixedly connected on support plate 1-1-10, and Z axis lift adjustment mechanism 1-2 includes determining pedestal 1-2-1 and moving Slide unit 1-2-2, by determining the slideway boss 1-2-1-1 on pedestal 1-2-1 and the slideway groove 1-2-2-1 on dynamic slide unit 1-2-2 It is cooperatively connected, realizes Z axis lift adjustment mechanism 1-2 in the Bidirectional slide of Z-direction；The operation trolley 5 includes universal 5-1, drawer 5-2, bowhandle 5-3 are taken turns, the slid platform base I1-1-6 of X-axis slipway mechanism 1-1 is equipped with stepped hole 1-1-6-1, X-axis slipway mechanism 1-1 is fixed on operation trolley 5 by bolt and nut.

The working principle that the present invention is embodied: patient is lain down on one's sick bed with lithotomy position, preoperative to carry out disinfection and to meeting Private parts local anaesthesia, doctor's hand push are performed the operation at trolley 5 to hospital bed, by locking universal wheel 5-1, so that operation trolley 5 is fixed.It is logical Control position adjusting mechanism 1 is crossed, the position of prostate close-range particle implantation robot in the x and z directions is adjusted, so that ultrasonic The 3-4 that pops one's head in is reached at patient anus, and puncture template 3-3 is located at immediately ahead of patient's perineum at 2cm.The preoperative environment in sealing of doctor It is lower that radioactive particle 125I is packed into particle cartridge clip storehouse 4-1-14, particle cartridge clip storehouse 4-1-14 is then mounted on particle implanting gun On 4-1, the implantation robot location adjustment of prostate close-range particle and Preoperative Method work are so far completed.Pass through control ultrasound Image navigation module 3, includes Y-axis slipway mechanism 3-1 and ultrasonic probe rotating mechanism 3-2, come control ultrasonic probe 3-4 into Give and around own axes rotation.The minimum amount of feeding of ultrasonic probe 3-4 is 2mm, obtains a series of the disconnected of continuous prostates Tomographic image.The position for determining prostate cancer lesion point, by controlling seeds implanted module 4 and cross joint attitude-adjusting system 2, Position and the posture for adjusting particle implanting gun 4-1 carry out seeds implanted treatment to patient.In case of emergency, prostate low coverage It can stop rapidly from seeds implanted robot, manually retracted safety zone can be realized by manual pulley 3-1-3.

The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its Equivalent thereof.

Claims (4)

1. a kind of comprehensive close-range particle of prostate is implanted into robot, it contains position adjusting mechanism (1), cross joint appearance State adjustment mechanism (2), ultrasound image navigation module (3), seeds implanted module (4), operation trolley (5), it is characterised in that: described Cross joint attitude-adjusting system (2) include servo motor I(2-1), motor base II(2-2), retarder I(2-3), Z Axis runing rest (2-4), X-axis runing rest (2-5), retarder II(2-6), servo motor II(2-7), cross joint posture tune Complete machine structure (2) setting is on the ladder pedestal (1-2-2-2) of dynamic slide unit (1-2-2), the retarder I(2-3) below set It is equipped with motor base II(2-2), the servo motor I(2-1) is mounted on motor base II(2-2 by 4 screws) Lower section, retarder I(2-3) output flange and the Z axis runing rest (2-4) flange fastener hole I(2-4-1) fixed connect Connect, servo motor I(2-1) driving retarder I(2-3) output flange, keep cross joint attitude-adjusting system (2) real about the z axis Show rotary motion, offers 1 dowel hole (2-4- in the retarder fixing seat (2-4-2) of the one end Z axis runing rest (2-4) 4) with 4 threaded hole II(2-4-3), the retarder II(2-6) is fixedly mounted on by 1 positioning pin and 4 screws In retarder fixing seat (2-4-2), the servo motor II(2-7) it is fixed in the motor base of Z axis runing rest (2-4) III(2-4-5 on), the both ends of the X-axis runing rest (2-5) are offered attachment base (2-5-2), on attachment base (2-5-2) Offer 6 flange fastener hole II(2-5-1), run through flange fastener hole II(2-5-1 by 6 screws) by attachment base (2-5- 2) be fixedly connected with the output flange of retarder II(2-6), servo motor II(2-7) driving retarder II(2-6) output method Orchid makes cross joint attitude-adjusting system (2) realize rotary motion around X-axis；The ultrasound image navigation module (3) includes Y-axis slipway mechanism (3-1), ultrasonic probe rotating mechanism (3-2), puncture template (3-3), ultrasonic probe (3-4), the ultrasound Probe rotating mechanism (3-2) includes runing rest (3-2-1), outer fixing seat (3-2-2), fixed bracket (3-2-3), support shaft (3-2-4), bracket (3-2-5), bracket base (3-2-6), stepper motor (3-2-7), shaft coupling I(3-2-8), the puncture Template (3-3) includes guide plate (3-3-1), shuttering supporting axis (3-3-2), guide plate cage knob (3-3-3), guide-board base (3-3-4), mould Plate connecting shaft (3-3-5) is provided with navigation hole (3-3-1-1) and circular cone arc slot (3-3-1-2) on the guide plate (3-3-1), The slid platform base II(3-1-1 of ultrasound image navigation module (3)) setting X-axis runing rest (2-5) just above, the electricity Machine II(3-1-4) driving Y-axis slipway mechanism (3-1) movement in the Y-axis direction, motor II(3-1-4) on the manual cunning that is arranged Wheel (3-1-3) can make ultrasound image navigate under emergency or power blackout situation by can be manually rotated manual pulley (3-1-3) Module (3) moves backward, the support plate II(3-1-2) on be provided with outer fixing seat (3-2-2) and bracket base (3-2- 6) it, is provided with rotatable runing rest (3-2-1) on outer fixing seat (3-2-2), the bracket (3-2-5) and runing rest By 3 support shaft (3-2-4) connections between (3-2-1), support shaft (3-2-4) is intermediate to be provided with the fixation bracket (3- 2-3), the ultrasonic probe (3- that fixed bracket (3-2-3) is used to be fixed on bracket (3-2-5) and runing rest (3-2-1) 4), the output shaft of the stepper motor (3-2-7) is affixed, it can be achieved that super by shaft coupling I(3-2-8) device and bracket (3-2-5) Sonic probe (3-4) obtains the sequence ultrasound image of prostate focal area, the guide plate in the rotary motion around Y direction Pedestal (3-3-4) is affixed by template connecting shaft (3-3-5) and one end of slid platform base II(3-1-1), guide-board base (3-3-4) Both ends be provided with can up and down adjustment shuttering supporting axis (3-3-2), the lifting cage knob (3-3-3) is for locking template branch It supports axis (3-3-2), is provided with guide plate (3-3-1) above shuttering supporting axis (3-3-2)；Seeds implanted module (4) packet Include particle implanting gun (4-1), X-axis fixed point mechanism (4-2) and Z axis fixed point mechanism (4-3), the particle implanting gun (4-1) packet Included outer needle control motor (4-1-1), the control of interior needle motor (4-1-2), shaft coupling II(4-1-3), shaft coupling III(4-1-4), Drum pedestal (4-1-5), lead screw II(4-1-6), lead screw III(4-1-7), nut sliding sleeve I(4-1-8), interior needle mounting base (4-1- 9), feed screw nut II(4-1-10), feed screw nut III(4-1-11), nut sliding sleeve II(4-1-12), outer needle mounting base (4-1- 13), particle cartridge clip storehouse (4-1-14), particle gun platform (4-1-15), interior needle (4-1-16), outer needle (4-1-17), needle fixed frame (4- 1-18), described X-axis fixed point mechanism (4-2) includes motor III(4-2-1), motor mounting plate (4-2-2), shaft coupling IV(4- 2-3), feed screw nut IV(4-2-4), linear bearing (4-2-5), lead screw IV(4-2-6), feed rod I(4-2-7), particle gun connection Plate (4-2-8), truss frame for connecting (4-2-9), described Z axis fixed point mechanism (4-3) includes motor IV(4-3-1), Connection Bracket (4-3-2), motor connecting base (4-3-3), lead screw V(4-3-4), feed rod II(4-3-5), nut slide unit (4-3-6), connection stand (4-3-7) offers 2 M6 threaded hole (4-3-2- on the Connection Bracket (4-3-2) of described Z axis fixed point mechanism (4-3) 1) Connection Bracket (4-3-2), is fixed in by screw the slid platform base II(3-1-1 of Y-axis slipway mechanism (3-1)) on, even Connect and be provided with motor connecting base (4-3-3), the motor IV(4-3-1 below fixed frame (4-3-2) upper plate) it is mounted on electricity Below machine attachment base (4-3-2), connection stand (4-3-7), the lead screw V are provided with above Connection Bracket (4-3-2) (4-3-4) and feed rod II(4-3-5) be mounted on connection stand on, lead screw V(4-3-4) with motor IV(4-3-1) output shaft connect It connects；Lead screw V(4-3-4) and feed rod II(4-3-5) on be provided with nut slide unit (4-3-6), nut slide unit (4-3-6) and lead screw V (4-3-4) is threadedly coupled, and the truss frame for connecting (4-2-9) of X-axis fixed point mechanism (4-2) is fixed in nut slide unit (4-3-6) Side, motor mounting plate (4-2-2) be arranged in the other side of nut slide unit (4-3-6), the motor III(4-2-1) peace On motor mounting plate (4-2-2), lead screw IV(4-2-6 is provided on truss frame for connecting (4-2-9)) and feed rod I(4-2-7), silk Thick stick IV(4-2-6) with the output shaft of motor III(4-2-1) pass through shaft coupling IV(4-2-3) connect, lead screw IV(4-2-6) and on set Be equipped with feed screw nut IV(4-2-4), feed rod I(4-2-7) on be provided with linear bearing (4-2-5), the particle gun connecting plate (4-2-8) is fixed in feed screw nut IV(4-2-4) and linear bearing (4-2-5) on, set below particle gun connecting plate (4-2-8) It is equipped with particle implanting gun (4-1), motor IV(4-3-1) driving lead screw V(4-3-4) rotation, particle implanting gun (4-1) can be made to exist Moved in Z-direction, motor III(4-2-1) driving lead screw IV(4-2-6) rotation, particle implanting gun (4-1) can be made in X-axis It is moved on direction.

2. the comprehensive close-range particle of a kind of prostate according to claim 1 is implanted into robot, it is characterised in that: described Guide plate (3-3-1) on be provided with the center 80mm × 80mm away from the array navigation hole (3-3-1-1) for 4mm, navigation hole (3-3-1- 1) front end offers circular cone arc slot (3-3-1-2), and the edge of each circular cone arc slot (3-3-1-2) is tangent；Error if it exists, it is described Outer needle (4-1-12) close to guide plate (3-3-1) when, the needle point of outer needle (4-1-12) is on circular cone arc slot (3-3-1-2), outer needle (4-1-12) can slide into navigation hole (3-3-1-1) along circular cone arc slot (3-3-1-2).

3. the comprehensive close-range particle of a kind of prostate according to claim 1 is implanted into robot, it is characterised in that: described Particle implanting gun (4-1) particle gun platform (4-1-15) be arranged below particle gun connecting plate (4-2-8), the drum Pedestal (4-1-5) setting is equipped with outer needle control motor on the rear end of particle gun platform (4-1-15), drum pedestal (4-1-5) (4-1-1) and interior needle control motor (4-1-2)；The output shaft of outer needle control motor (4-1-1) passes through shaft coupling II(4-1-3) with Lead screw II(4-1-6 on particle gun platform (4-1-15) is set) it connects, the output shaft of interior needle control motor (4-1-2) passes through connection Axis device III(4-1-4) lead screw III(4-1-7 of the setting on particle gun platform (4-1-15)) connection；Lead screw II(4-1-6) on set It is equipped with nut sliding sleeve I(4-1-8) and feed screw nut III(4-1-11), lead screw II(4-1-6) and feed screw nut III(4-1-11) Be connected through a screw thread, lead screw III(4-1-7) on be provided with feed screw nut II(4-1-10) with nut sliding sleeve II(4-1-12), silk Thick stick III(4-1-7) it is connected through a screw thread with feed screw nut II(4-1-10)；The interior needle mounting base (4-1-9) is mounted on spiral shell Female sliding sleeve I(4-1-8) on feed screw nut II(4-1-10), interior needle (4-1-16) is provided on interior needle mounting base (4-1-9)；Institute The outer needle mounting base (4-1-13) stated is mounted on feed screw nut III(4-1-11) on nut sliding sleeve II(4-1-12), outer needle is pacified Particle cartridge clip storehouse (4-1-14) is provided on dress seat (4-1-13), the bottom end of the outer needle (4-1-17) passes through particle cartridge clip storehouse The inside of (4-1-14), outer needle (4-1-17) are moved on the needle fixed frame (4-1-18), and needle fixed frame (4-1-18) can To play the role of support during outer needle (4-1-17) is mobile, the bending of outer needle (4-1-17) is prevented.

4. the comprehensive close-range particle of a kind of prostate according to claim 1 is implanted into robot, it is characterised in that: described Position adjusting mechanism (1) include X-axis slipway mechanism (1-1) and Z axis lift adjustment mechanism (1-2)；The X-axis slide unit machine Structure (1-1) includes track slide unit (1-1-1), lead screw I(1-1-2), feed screw nut I(1-1-3), screw slider (1-1-4), track Sliding block (1-1-5), slid platform base I(1-1-6), bumper (1-1-7), motor base I(1-1-8), motor I(1-1-9), support Plate I(1-1-10)；The slid platform base I(1-1-6) at left and right sides of be respectively arranged with track slide unit (1-1-1), each rail 2 rail sliders (1-1-5) are provided on road slide unit (1-1-1), rail slider (1-1-5) can be at track slide unit (1-1-1) Cofree sliding；The motor base I(1-1-8) be mounted on slid platform base I(1-1-6) one end, passing through 4 screws will Motor I(1-1-9) it is fixedly connected on motor base I(1-1-8) on, the lead screw I(1-1-2) it is defeated with motor I(1-1-9) Axis connection out, the feed screw nut I(1-1-3) be threadedly coupled with lead screw I(1-1-2), feed screw nut I(1-1-3) on be arranged Have screw slider (1-1-4), feed screw nut I(1-1-3) side and screw slider (1-1-4) the other side be respectively arranged with it is anti- It hits pad (1-1-7), screw slider (1-1-4) and 4 rail sliders (1-1-5) are in same level, the support plate I(1- It 1-10) is mounted on screw slider (1-1-4) and 4 rail sliders (1-1-5), lead screw I(1- is driven by motor I(1-1-9) 1-2) rotate, so that the screw slider (1-1-4) on feed screw nut (1-1-3) be made to drive support plate I(1-1-10) movement, it realizes The movement of X-axis slipway mechanism (1-1) in the X direction, the Z axis lift adjustment mechanism (1-2) are fixedly connected on support plate (1- On 1-10), Z axis lift adjustment mechanism (1-2) includes determining pedestal (1-2-1) and dynamic slide unit (1-2-2), by determining pedestal (1-2- 1) the slideway groove (1-2-2-1) on slideway boss (1-2-1-1) and dynamic slide unit (1-2-2) on is cooperatively connected, and realizes Z axis liter Adjustment mechanism (1-2) is dropped in the Bidirectional slide of Z-direction；The operation trolley (5) includes universal wheel (5-1), drawer (5- 2), bowhandle (5-3), the slid platform base I(1-1-6 of X-axis slipway mechanism (1-1)) it is equipped with stepped hole (1-1-6-1), pass through X-axis slipway mechanism (1-1) is fixed in operation trolley (5) by bolt and nut.