CN108969878B - All-round close range particle implantation robot of prostate - Google Patents
All-round close range particle implantation robot of prostate Download PDFInfo
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- CN108969878B CN108969878B CN201810620460.2A CN201810620460A CN108969878B CN 108969878 B CN108969878 B CN 108969878B CN 201810620460 A CN201810620460 A CN 201810620460A CN 108969878 B CN108969878 B CN 108969878B
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
- A61N2005/1009—Apparatus for loading seeds into magazines or needles
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Abstract
The invention discloses an omnidirectional close-range particle implantation robot for a prostate, which relates to the field of medical appliances and comprises a position adjusting mechanism, a cross joint posture adjusting mechanism, an ultrasonic image navigation module, a particle implantation module and an operation trolley; the position and the gesture of the ultrasonic probe can be adjusted by controlling the motor, so that the feeding and the rotating motion around the axis of the ultrasonic probe can be realized, and a series of sequential ultrasonic images can be obtained; under the guidance of an ultrasonic image, the radioactive particle implantation treatment operation of the prostate cancer is completed by controlling the particle implantation module; the invention can overcome the defects of fatigue operation of doctors in the traditional particle implantation operation process, low positioning precision and stability of manual operation and dependence on personal experience of doctors in the treatment process, and improve the operation efficiency and the particle implantation accuracy.
Description
Technical field:
the invention belongs to the field of medical instruments, and particularly relates to an omnidirectional close-range particle implantation robot for a prostate.
The background technology is as follows:
the related data indicate that prostate cancer is one of the common malignant tumors of men at present. Worldwide, the incidence and mortality of prostate cancer has risen year by year, and patients tend to be younger, an important disease threatening human health. The radioactive particle implantation treatment has the advantages of small wound, small treatment block, less side effect, low postoperative complication occurrence rate and the like, and is currently becoming a main method for treating the prostate cancer. The radioactive particle implantation treatment is to implant radioactive particles into a target area of a target organ through skin by adopting a special particle implantation device under the guidance of imaging equipment such as ultrasound.
Currently, a particle implantation method is generally adopted in clinic, and a clinician manually completes a particle implantation process by experience with a guide plate mounted on ultrasound under manual ultrasound guidance, and hundreds of radioactive particles are required to be implanted in each operation. The doctor has high labor intensity and low efficiency in the operation process, and the positioning accuracy of manual operation is difficult to ensure. Meanwhile, due to the reasons of body movement of a patient, body position movement of the prostate, tissue edema deformation and the like, the focus point is difficult to accurately determine in the operation. The treatment results are mainly dependent on personal experience and level of doctors, and are liable to cause injury to patients and cause reduction of treatment efficiency.
CN104548328A discloses a minimally invasive local radiotherapy robot device, which only involves rotation and feed motion adjustment of an ultrasonic probe, and in the process of performing a prostate biopsy or a prostate particle implantation operation, a doctor is required to complete the operation by holding a biopsy gun or a particle implantation device. The transmission distance between the horizontal rotation and pitching adjusting mechanism and the tail end executing mechanism is long, and the horizontal rotation mechanism adopts worm and gear transmission, so that the positioning precision is easy to influence.
CN103919577a discloses a cantilever type prostate biopsy robot, which adopts a compound parallelogram mechanism, and ensures that the execution end is always in a horizontal state. However, the robot has only three degrees of freedom, so that only horizontal needle insertion can be adopted, and the needle insertion angle is limited.
The invention comprises the following steps:
the invention aims to solve the technical problems: in order to overcome the defects of low positioning accuracy and stability of manual operation and dependence on personal experience of doctors in the treatment process of the traditional particle implantation operation process, the omnidirectional close-range particle implantation robot for the prostate is provided.
The invention discloses a prostate omnibearing near-distance particle implantation robot, which comprises a position adjusting mechanism, a cross joint posture adjusting mechanism, an ultrasonic image navigation module, a particle implantation module and an operation trolley, and is characterized in that: the X-axis rotating support is characterized in that the cross joint posture adjusting mechanism comprises a servo motor I, a motor base II, a speed reducer I, Z shaft rotating support, an X-axis rotating support, a speed reducer II and a servo motor II, wherein the cross joint posture adjusting mechanism is arranged on a stepped base of the movable sliding table, the motor base II is arranged below the speed reducer I, the servo motor I is arranged below the motor base II through 4 screws, an output flange of the speed reducer I is fixedly connected with a flange fastening hole I of the Z-axis rotating support, the servo motor I drives the output flange of the speed reducer I, so that the cross joint posture adjusting mechanism realizes rotating motion around the Z-axis, a speed reducer fixing seat at one end of the Z-axis rotating support is provided with 1 positioning pin hole and 4 threaded holes II, the speed reducer II is fixedly arranged on the speed reducer fixing seat through 1 positioning pin and 4 screws, two ends of the X-axis rotating support are provided with connecting seats, 6 flange fastening holes II are formed in the connecting seats, and the output flange II penetrates through 6 cross motor fastening holes to enable the output flange of the speed reducer II to realize rotating joint posture adjusting mechanism around the Z-axis rotating support; the ultrasonic image navigation module comprises a Y-axis sliding table mechanism, an ultrasonic probe rotating mechanism, a puncture template and an ultrasonic probe, wherein the ultrasonic probe rotating mechanism comprises a probe rotating bracket, an outer fixing seat, a fixing bracket, a bracket shaft, a bracket base, a stepping motor and a coupler I, the puncture template comprises a guide plate, a template supporting shaft, a guide plate lock button, a guide plate base and a template connecting shaft, a navigation hole and a conical arc groove are formed in the guide plate, a sliding table base II of the ultrasonic image navigation module is arranged right above the X-axis rotating bracket, the motor II drives the Y-axis sliding table mechanism to move in the Y-axis direction, a manual pulley arranged on the motor II can enable the ultrasonic image navigation module to move backwards through manual rotation of the manual pulley under emergency or outage conditions, and the support plate II is provided with a navigation hole and a conical arc groove
The ultrasonic probe is provided with an outer fixed seat and a bracket base, the outer fixed seat is provided with a rotatable probe rotating bracket, the bracket is connected with the probe rotating bracket through 3 bracket shafts, the middle of the bracket shaft is provided with a fixed bracket which is used for fixing the ultrasonic probe arranged on the bracket and the probe rotating bracket, the output shaft of the stepping motor is fixedly connected with the bracket through a coupler I, the ultrasonic probe can rotate around the Y-axis direction to acquire sequential ultrasonic images of a prostate focus area, the guide plate base is fixedly connected with one end of the sliding table base II through a template connecting shaft, template supporting shafts capable of being adjusted up and down are arranged at two ends of the guide plate base, the guide plate lock buttons are used for locking the template supporting shafts, and a guide plate is arranged above the template supporting shafts; the particle implantation module comprises a particle implantation gun, an X-axis fixed point mechanism and a Z-axis fixed point mechanism, wherein the particle implantation gun comprises an outer needle control motor, an inner needle control motor, a coupler II, a coupler III, an I-shaped base, a screw II, a screw III, a nut sliding sleeve I, an inner needle mounting seat, a screw nut II, a screw nut III, a nut sliding sleeve II, an outer needle mounting seat, a particle cartridge bin, a particle gun seat, an inner needle, an outer needle and a needle fixing frame, the X-axis fixed point mechanism comprises a motor III, a motor mounting plate, a coupler IV, a screw nut IV, a linear bearing, a screw IV, a light bar I, a particle gun connecting plate and a connecting truss, the Z-axis fixed point mechanism comprises a motor IV, a connecting fixing frame, a motor connecting seat, a screw V, a light bar II, a nut and a connecting vertical frame, the connecting fixing frame is provided with 2M 6 threaded holes on the connecting fixing frame, the connecting sliding frame is fixedly connected to the base II of the Y-axis mechanism through screws, a motor connecting seat is arranged below the upper plate of the connecting fixing frame, the motor IV is arranged below the motor connecting seat, the motor connecting frame is connected with the vertical frame V, and the lead bar II is connected with the motor vertical frame; be provided with nut slip table on lead screw V and the feed screw II, nut slip table and lead screw V threaded connection, X axle fixed point mechanism's connection truss rigid coupling in one side of nut slip table, the motor mounting panel sets up the opposite side at nut slip table, motor III install on the motor mounting panel, be provided with lead screw IV and feed screw I on the connection truss, lead screw IV passes through shaft coupling IV with motor III's output shaft and is connected, be provided with lead screw nut IV on the lead screw IV, be provided with linear bearing on the feed screw I, particle gun connecting plate rigid coupling on lead screw nut IV and linear bearing, the below of particle gun connecting plate is provided with the particle implantation rifle, motor IV drives lead screw V and rotates, can make the particle implantation rifle remove in the Z axial direction, motor III drives lead screw IV rotation, can make the particle implantation rifle remove in the X axial direction.
Preferably, the guide plate is provided with an array navigation hole with the center distance of 80mm multiplied by 80mm and 4mm, the front end of the navigation hole is provided with conical arc grooves, and the edges of the conical arc grooves are tangent; if errors exist, when the outer needle approaches the guide plate, the needle point of the outer needle is arranged on the conical arc groove, and the outer needle can slide into the navigation hole along the conical arc groove.
Preferably, a particle gun seat of the particle implantation gun is arranged below the particle gun connecting plate, the I-shaped base is arranged at the rear end of the particle gun seat, and an outer needle control motor and an inner needle control motor are arranged on the I-shaped base; an output shaft of the outer needle control motor is connected with a lead screw II arranged on the particle gun seat through a coupler II, and an output shaft of the inner needle control motor is connected with a lead screw III arranged on the particle gun seat through a coupler III; the screw rod II is provided with a nut sliding sleeve I and a screw rod nut III, the screw rod II is connected with the screw rod nut III through threads, the screw rod III is provided with a screw rod nut II and a nut sliding sleeve II, and the screw rod III is connected with the screw rod nut II through threads; the inner needle mounting seat is arranged on the nut sliding sleeve I and the screw nut II, and is provided with an inner needle; the outer needle mounting seat is arranged on the screw nut III and the nut sliding sleeve II, the particle cartridge bin is arranged on the outer needle mounting seat, the bottom end of the outer needle passes through the interior of the particle cartridge bin, the outer needle moves on the needle fixing frame, and the needle fixing frame can play a supporting role in the moving process of the outer needle, so that the outer needle is prevented from bending.
Preferably, the position adjusting mechanism comprises an X-axis sliding table mechanism and a Z-axis lifting adjusting mechanism; the X-axis sliding table mechanism comprises a track sliding table, a screw rod I, a screw rod nut I, a screw rod sliding block, a track sliding block, a sliding table base I, an anti-collision pad, a motor base I, a motor I and a supporting plate I; the left side and the right side of the sliding table base I are respectively provided with a rail sliding table, each rail sliding table is provided with 2 rail sliding blocks, and the rail sliding blocks can freely slide on the rail sliding tables; the motor base I is arranged at one end of the sliding table base I, the motor I is fixedly connected to the motor base I through 4 screws, the screw rod I is connected with an output shaft of the motor I, the screw rod nut I is in threaded connection with the screw rod I, a screw rod sliding block is arranged on the screw rod nut I, an anti-collision pad is respectively arranged on one side of the screw rod nut I and the other side of the screw rod sliding block, the screw rod sliding block and the 4 track sliding blocks are arranged on the same horizontal plane, the supporting plate I is arranged on the screw rod sliding block and the 4 track sliding blocks, the screw rod I is driven to rotate through the motor I, so that the screw rod sliding block on the screw rod nut drives the supporting plate I to move to realize the movement of the X-axis sliding table mechanism in the X direction, the Z-axis lifting adjusting mechanism is fixedly connected to the supporting plate I and comprises a fixed base and a movable sliding table, and the Z-axis lifting adjusting mechanism is in matched connection with a sliding groove on the movable sliding table through a sliding table boss on the fixed base to realize the bidirectional sliding of the Z-axis lifting adjusting mechanism in the Z-axis direction; the operation trolley comprises universal wheels, drawers and arc handles, wherein a stepped hole is formed in a sliding table base I of the X-axis sliding table mechanism, and the X-axis sliding table mechanism is fixed on the operation trolley through bolts and nuts.
The beneficial effects of the invention are as follows:
(1) The cross joint posture adjusting mechanism is arranged on the movable sliding table of the Z-axis lifting adjusting mechanism, so that the structure is compact, the cross joint posture adjusting mechanism adopts a driving mode of a servo motor and a speed reducer, the positioning precision is improved, and the output torque is increased;
(2) The particle implantation module is arranged on a sliding table base II of the Y-axis sliding table mechanism, and the inner needle and the outer needle of the particle gun are always kept in the sagittal plane of the ultrasonic probe in the process of adjusting the position and the gesture of the ultrasonic probe, so that a doctor can clearly see needle insertion tracks of the inner needle and the outer needle in an ultrasonic image, and the puncture precision of particle implantation is improved;
(3) The guide plate is provided with an array navigation hole with the center distance of 80mm multiplied by 80mm and 4mm, the front end of the navigation hole is provided with conical arc grooves, the edges of the conical arc grooves are tangent, if errors exist, when an outer needle approaches the guide plate in the particle implantation process, the needle point of the outer needle is arranged on the conical arc grooves, the outer needle can slide into the navigation hole along the conical arc grooves, and the influence caused by the errors can be eliminated;
(4) The driving motor of the Y-axis sliding table mechanism is provided with a manual pulley, and the prostate close-range particle implantation robot can be stopped rapidly in emergency. The manual return to the safety zone can be realized through the manual pulley, so that the safety is improved;
(5) The arc-shaped handle of the operation trolley is designed into an integrated structure, the operation trolley is simple and easy to hold, pushing is labor-saving, a doctor can move the operation trolley to a designated sickbed during operation, the universal wheels at the bottom of the Sous operation trolley are pressed down by the brake switch, movement in the operation process is prevented, and the movable operation trolley improves the flexibility of the prostate close-range particle implantation robot.
Description of the drawings:
for ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the position and cross joint attitude adjustment mechanism of the present invention;
FIG. 3 is a schematic view of the structure of the X-axis sliding table mechanism of the present invention;
FIG. 4 is a schematic diagram of the structure of the movable slipway of the present invention;
FIG. 5 is a schematic view of a cross joint posture adjustment mechanism according to the present invention;
FIG. 6 is a schematic view of the structure of the Z-axis rotating stand of the present invention;
FIG. 7 is a schematic view of the structure of the X-axis rotating stand of the present invention;
FIG. 8 is a schematic view of the structure of the ultrasonic probe attitude adjustment mechanism of the present invention;
FIG. 9 is a schematic view of the structure of the guide plate of the present invention;
FIG. 10 is a schematic view of a position adjustment mechanism of a particle implantation module according to the present invention;
FIG. 11 is a schematic view of a particle implantation gun according to the present invention;
fig. 12 is a schematic structural view of the surgical trolley of the present invention.
In the figure: 1 position adjusting mechanism, 1-1X axis sliding table mechanism, 1-1-1 track sliding table, 1-1-2 lead screw I, 1-1-3 lead screw nut I, 1-1-4 lead screw slider, 1-1-5 track slider, 1-1-6 sliding table base I, 1-1-7 crash pad, 1-1-8 motor base, 1-1-9 motor I, 1-1-10 support plate I, 1-2Z axis lifting adjusting mechanism, 1-2-1 fixed base, 1-2-1-1 slide boss, 1-2-2 movable sliding table, 1-2-2-1 slide groove, 1-2-2-2 step base, 1-2-2-3 screw hole I, 2 cross joint gesture adjusting mechanism 2-1 servo motor I, 2-2 motor base II, 2-3 reducer I, 2-4Z axis rotating bracket, 2-4-1 flange fastening hole I, 2-4-2 reducer fixing seat, 2-4-3 screw hole II, 2-4-4 positioning pin hole, 2-4-5 motor base III, 2-5X axis rotating bracket, 2-5-1 flange fastening hole II, 2-5-2 connecting seat, 2-6 reducer II, 2-7 servo motor II, 3 ultrasonic image navigation module, 3-1Y axis sliding table mechanism, 3-1-1 sliding table base II, 3-1-2 supporting plate II, 3-1-3 manual pulley, 3-1-4 motor II, 3-2 ultrasonic probe rotating mechanism, 3-2-1 rotating bracket, 3-2-2 external fixing seat, 3-2-3 fixing bracket, 3-2-4 bracket shaft, 3-2-5 bracket, 3-2-6 bracket base, 3-2-7 stepping motor, 3-2-8 coupling I, 3-3 puncture template, 3-3-1 guide plate, 3-3-1-1 navigation hole, 3-3-1-2 conical arc groove, 3-3-2 template supporting shaft, 3-3-3 guide plate lock button, 3-3-4 guide plate base, 3-3-5 template connecting shaft, 3-4 ultrasonic probe, 4 particle implantation module the particle implantation gun comprises a 4-1 particle implantation gun, a 4-1-1 outer needle control motor, a 4-1-2 inner needle control motor, a 4-1-3 coupler II, a 4-1-4 coupler III, a 4-1-5 tool type base, a 4-1-6 lead screw II, a 4-1-7 lead screw III, a 4-1-8 nut sliding sleeve I, a 4-1-9 inner needle mounting seat, a 4-1-10 lead screw nut II, a 4-1-11 lead screw nut III, a 4-1-12 nut sliding sleeve II, a 4-1-13 outer needle mounting seat, a 4-1-14 particle cartridge bin, a 4-1-15 particle gun seat, a 4-1-11 particle gun seat, the device comprises a 4-1-16 inner needle, a 4-1-17 outer needle, a 4-1-18 needle fixing frame, a 4-2X axis fixed point mechanism, a 4-2-1 motor III, a 4-2-2 motor mounting plate, a 4-2-3 coupler IV, a 4-2-4 screw nut IV, a 4-2-5 linear bearing, a 4-2-6 screw IV, a 4-2-7 feed beam I, a 4-2-8 particle gun connecting plate, a 4-2-9 connecting truss, a 4-3Z axis fixed point mechanism, a 4-3-1 motor IV, a 4-3-2 connecting fixing frame, a 4-3-3 motor connecting seat, a 4-3-4 screw V, a 4-3-5 feed beam II, a 4-3-6 nut sliding table, a 4-3-7 connecting stand, a 5 operation trolley, a 5-1 universal wheel, a 5-2 drawer and a 5-3 arc handle.
The specific embodiment is as follows:
for the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention is described below by means of specific embodiments shown in the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
As shown in fig. 1 to 12, the present embodiment adopts the following technical scheme: the device comprises a position adjusting mechanism 1, a cross joint posture adjusting mechanism 2, an ultrasonic image navigation module 3, a particle implantation module 4 and an operation trolley 5, and is characterized in that: the cross joint posture adjusting mechanism 2 comprises a servo motor I2-1, a motor base II 2-2, a speed reducer I2-3, a Z-axis rotating bracket 2-4, an X-axis rotating bracket 2-5, a speed reducer II 2-6 and a servo motor II 2-7, wherein the cross joint posture adjusting mechanism 2 is arranged on the step base 1-2-2-2 of the movable sliding table 1-2-2, the motor base II 2-2 is arranged below the speed reducer I2-3, the servo motor I2-1 is arranged below the motor base II 2-2 through 4 screws, an output flange of the speed reducer I2-3 is fixedly connected with a flange fastening hole I2-4-1 of the Z-axis rotating bracket 2-4, the servo motor I2-1 drives the output flange of the speed reducer I2-3 to enable the cross joint posture adjusting mechanism 2 to realize rotating motion around the Z-axis, a speed reducer fixing seat 2-4-2 at one end of the Z-axis rotating bracket is provided with 1 positioning pin hole 2-4 and 4 screw holes, the speed reducer II-4-4 is fixedly connected with the speed reducer II 2-4-4 at two ends of the speed reducer II 2-2-4 through 4 screws, the speed reducer II is fixedly connected with the speed reducer II 2-4-4 at two ends of the speed reducer II 2-4 through the speed reducer II-5-4 and the speed reducer II-2-4 at the two ends of the speed reducer II-2-4, 6 flange fastening holes II 2-5-1 are formed in the connecting seat 2-5-2, the connecting seat 2-5-2 is fixedly connected with an output flange of the speed reducer II 2-6 through 6 screws penetrating through the flange fastening holes II 2-5-1, and the servo motor II 2-7 drives the output flange of the speed reducer II 2-6 to enable the cross joint posture adjusting mechanism 2 to realize rotary motion around the X axis; the ultrasonic image navigation module 3 comprises a Y-axis sliding table mechanism 3-1, an ultrasonic probe rotating mechanism 3-2, a puncture template 3-3 and an ultrasonic probe 3-4, wherein the ultrasonic probe rotating mechanism 3-2 comprises a probe rotating bracket 3-2-1, an outer fixed seat 3-2-2, a fixed bracket 3-2-3, a bracket shaft 3-2-4, a bracket 3-2-5, a bracket base 3-2-6, a stepping motor 3-2-7 and a coupler I3-2-8, the puncture template 3-3 comprises a guide plate 3-3-1, a template supporting shaft 3-3-2, a guide plate lock button 3-3-3, a guide plate base 3-3-4 and a template connecting shaft 3-3-5, a navigation hole 3-3-1-1 and a conical arc groove 3-3-1-2 are arranged on the guide plate 3-3-1, a sliding table II 3-1 of the ultrasonic image navigation module 3 is arranged on the right side of the X-axis rotating bracket 2-5, the motor 3-4 is arranged on the Y-axis of the motor 3-1, the sliding table 3-3-4 can be driven by the Y-axis of the ultrasonic image navigation module 3-1 or the manual power-3-1 to move in the emergency pulley 1 in the direction when the Y-axis 3-3-1 is in the emergency situation, the ultrasonic probe comprises a support plate II 3-1-2, an outer fixed seat 3-2-2 and a bracket base 3-2-6, a rotatable probe rotating bracket 3-2-1 is arranged on the outer fixed seat 3-2-2, the bracket 3-2-5 is connected with the probe rotating bracket 3-2-1 through 3 bracket shafts 3-2-4, the middle of the bracket shaft 3-2-4 is provided with the fixed bracket 3-2-3, the fixed bracket 3-2-3 is used for fixing an ultrasonic probe 3-4 arranged on the bracket 3-2-5 and the probe rotating bracket 3-2-1, an output shaft of the stepping motor 3-2-7 is fixedly connected with the bracket 3-2-5 through a coupler I3-2-8, the ultrasonic probe 3-4 can realize the rotating motion around a focus in the Y-axis direction, the sequential ultrasonic image of a prostate region is acquired, the guide plate base 3-3-4 is fixedly connected with one end of the sliding table base II-1-1 through a template connecting shaft 3-5, the guide plate 3-3 is provided with two ends of the template 3-3-3-3, the template 3-3-3 is used for locking the template 3-3-3, and the template 3-3-3 is arranged at two ends of the template 3-3-3 and is used for locking the template 3-3-3; the particle implantation module 4 comprises a particle implantation gun 4-1, an X-axis fixed point mechanism 4-2 and a Z-axis fixed point mechanism 4-3, wherein the particle implantation gun 4-1 comprises an outer needle control motor 4-1-1, an inner needle control motor 4-1-2, a coupler II 4-1-3, a coupler III 4-1-4, an I-shaped base 4-1-5, a screw II4-1-6, a screw III 4-1-7, a nut sliding sleeve I4-1-8, an inner needle mounting seat 4-1-9, a screw nut II 4-1-10, a screw nut III4-1-11, a nut sliding sleeve II 4-1-12, an outer needle mounting seat 4-1-13, a particle cartridge bin 4-1-14, a particle gun seat 4-1-15, an inner needle 4-1-16, an outer needle 4-1-17, a needle fixing frame 4-1-18, and an X-axis fixed point mechanism 4-2 comprises a motor III 4-2-1, a motor mounting plate 4-2, a motor IV, a coupler III 4-2, a coupler III 4-3, a screw nut III 4-1-8, a screw nut IV 4-1-12, a screw nut IV 4-3, a linear bearing 4-2-3, a connecting plate IV and a connecting plate IV 4-3, and a particle fixing frame 4-1-18, wherein the particle implantation gun 4-1-16 comprises a connecting plate IV and a connecting plate IV-3, and the connecting plate 4-3-4-3, and the connecting IV-4-3, and the particle implantation device comprises a connecting rod, the motor connecting seat 4-3-3, the screw rod V4-3-4, the feed screw II 4-3-5, the nut sliding table 4-3-6 and the connecting vertical frame 4-3-7, 2M 6 threaded holes 4-3-2-1 are formed in the connecting fixing frame 4-3-2 of the Z-axis fixed point mechanism 4-3, the connecting fixing frame 4-3-2 is fixedly connected to the sliding table base II 3-1-1 of the Y-axis sliding table mechanism 3-1 through screws, the motor connecting seat 4-3-3 is arranged below an upper plate of the connecting fixing frame 4-3-2, the motor IV 4-3-1 is arranged below the motor connecting seat 4-3-3, the connecting vertical frame 4-3-7 is arranged above the connecting fixing frame 4-3-2, the screw rod V4-3-4 and the feed screw II 4-3-5 are arranged on the connecting vertical frame, and the screw rod V4-3-4 is connected with an output shaft of the motor IV 4-3-1; the screw V4-3-4 and the feed beam II 4-3-5 are provided with a nut sliding table 4-3-6, the nut sliding table 4-3-6 is in threaded connection with the screw V4-3-4, a connecting truss 4-2-9 of the X-axis fixed point mechanism 4-2 is fixedly connected to one side of the nut sliding table 4-3-6, a motor mounting plate 4-2-2 is arranged on the other side of the nut sliding table 4-3-6, a motor III 4-2-1 is arranged on the motor mounting plate 4-2-2, a screw IV 4-2-6 and a feed beam I4-2-7 are arranged on the connecting truss 4-2-9, the screw IV 4-2-6 is connected with an output shaft of the motor III 4-2-1 through a coupler IV 4-2-3, the screw rod IV 4-2-6 is provided with a screw rod nut IV 4-2-4, the screw rod I4-2-7 is provided with a linear bearing 4-2-5, the particle gun connecting plate 4-2-8 is fixedly connected on the screw rod nut IV 4-2-4 and the linear bearing 4-2-5, the particle implantation gun 4-1 is arranged below the particle gun connecting plate 4-2-8, the motor IV 4-3-1 drives the screw rod V4-3-4 to rotate, the particle implantation gun 4-1 can move in the Z axis direction, the motor III 4-2-1 drives the screw rod IV 4-2-6 to rotate, the particle implantation gun 4-1 can be moved in the X-axis direction.
Further, an array navigation hole 3-3-1-1 with the center distance of 80mm multiplied by 80mm and the center distance of 4mm is arranged on the guide plate 3-3-1 shown in FIG. 9, a conical arc groove 3-3-1-2 is arranged at the front end of the navigation hole 3-3-1-1, and the edges of the conical arc grooves 3-3-1-2 are tangent; if there is an error, when the outer needle 4-1-17 approaches the guide plate 3-3-1, the tip of the outer needle 4-1-17 is on the conical arc groove 3-3-1-2, and the outer needle 4-1-17 can slide into the navigation hole 3-3-1-1 along the conical arc groove 3-3-1-2.
Further, as shown in FIG. 11, a particle gun seat 4-1-15 of the particle implantation gun 4-1 is arranged below a particle gun connecting plate 4-2-8, an I-shaped base 4-1-5 is arranged at the rear end of the particle gun seat 4-1-15, and an outer needle control motor 4-1-1 and an inner needle control motor 4-1-2 are arranged on the I-shaped base 4-1-5; the output shaft of the outer needle control motor 4-1-1 is connected with a lead screw II4-1-6 arranged on the particle gun seat 4-1-15 through a coupler II 4-1-3, and the output shaft of the inner needle control motor 4-1-2 is connected with a lead screw III 4-1-7 arranged on the particle gun seat 4-1-15 through a coupler III 4-1-4; the screw rod II4-1-6 is provided with a nut sliding sleeve I4-1-8 and a screw rod nut III4-1-11, the screw rod II4-1-6 is connected with the screw rod nut III4-1-11 through threads, the screw rod III 4-1-7 is provided with a screw rod nut II 4-1-10 and a nut sliding sleeve II 4-1-12, and the screw rod III 4-1-7 is connected with the screw rod nut II 4-1-10 through threads; the inner needle mounting seat 4-1-9 is arranged on the nut sliding sleeve I4-1-8 and the lead screw nut II 4-1-10, and the inner needle mounting seat 4-1-9 is provided with an inner needle 4-1-16; the outer needle mounting seat 4-1-13 is arranged on the screw nut III4-1-11 and the nut sliding sleeve II 4-1-12, the particle cartridge bin 4-1-14 is arranged on the outer needle mounting seat 4-1-13, the bottom end of the outer needle 4-1-17 penetrates through the interior of the particle cartridge bin 4-1-14, the outer needle 4-1-17 moves on the needle fixing frame 4-1-18, and the needle fixing frame 4-1-18 can play a supporting role in the moving process of the outer needle 4-1-17 to prevent the outer needle 4-1-17 from bending.
Further, as shown in fig. 2, 3, 4 and 12, the position adjusting mechanism 1 includes an X-axis sliding table mechanism 1-1 and a Z-axis lifting adjusting mechanism 1-2; the X-axis sliding table mechanism 1-1 comprises a track sliding table 1-1-1, a screw rod I1-1-2, a screw rod nut I1-1-3, a screw rod sliding block 1-1-4, a track sliding block 1-1-5, a sliding table base I1-1-6, an anti-collision pad 1-1-7, a motor base I1-1-8, a motor I1-1-9 and a supporting plate I1-1-10; the left side and the right side of the sliding table base I1-1-6 are respectively provided with a track sliding table 1-1, each track sliding table 1-1 is provided with 2 track sliding blocks 1-1-5, and the track sliding blocks 1-1-5 can freely slide on the track sliding table 1-1-1; the motor base I1-1-8 is arranged at one end of the sliding table base I1-1-6, the motor I1-1-9 is fixedly connected to the motor base I1-1-8 through 4 screws, the screw rod I1-1-2 is connected with an output shaft of the motor I1-1-9, the screw rod nut I1-1-3 is in threaded connection with the screw rod I1-1-2, the screw rod nut I1-1-3 is provided with a screw rod sliding block 1-1-4, one side of the screw rod nut I1-3 and the other side of the screw rod sliding block 1-1-4 are respectively provided with an anti-collision pad 1-1-7, the screw rod sliding block 1-1-4 and the 4 track sliding blocks 1-1-5 are in the same horizontal plane, the support plate I1-1-10 is arranged on the screw rod slide block 1-1-4 and the 4 track slide blocks 1-1-5, the screw rod I1-1-2 is driven to rotate by the motor I1-1-9, so that the screw rod slide block 1-1-4 on the screw rod nut 1-1-3 drives the support plate I1-1-10 to move, the X-axis sliding table mechanism 1-1 is realized to move in the X direction, the Z-axis lifting adjusting mechanism 1-2 is fixedly connected on the support plate 1-1-10, the Z-axis lifting adjusting mechanism 1-2 comprises a fixed base 1-2-1 and a movable sliding table 1-2-2, the bidirectional sliding of the Z-axis lifting adjusting mechanism 1-2 in the Z-axis direction is realized through the matched connection of the slide way boss 1-2-1-1 on the fixed base 1-2-1 and the slide way groove 1-2-2-1 on the movable sliding table 1-2-2; the operation trolley 5 comprises universal wheels 5-1, drawers 5-2 and arc handles 5-3, a stepped hole 1-1-6-1 is arranged on a sliding table base I1-1-6 of the X-axis sliding table mechanism 1-1, and the X-axis sliding table mechanism 1-1 is fixed on the operation trolley 5 through bolts and nuts.
The working principle of the concrete implementation of the invention is as follows: the patient lies on the sickbed in the lithotomy position, disinfects before operation and locally anesthetizes the perineum, and a doctor pushes the operation trolley 5 to the sickbed, and the operation trolley 5 is fixed by locking the universal wheels 5-1. By controlling the position adjusting mechanism 1, the position of the prostate close-range particle implantation robot in the X and Z directions is adjusted, so that the ultrasonic probe 3-4 reaches the anus of the patient, and the puncture template 3-3 is positioned 2cm in front of the perineum of the patient. The doctor loads radioactive particles 125I into the particle cartridge 4-1-14 in a sealed environment before operation, and then installs the particle cartridge 4-1-14 on the particle implantation gun 4-1, so as to complete the position adjustment and preoperative preparation of the prostate close-range particle implantation robot. The feeding and rotation of the ultrasonic probe 3-4 around its own axis are controlled by controlling the ultrasonic image navigation module 3 including the Y-axis slide table mechanism 3-1 and the ultrasonic probe rotation mechanism 3-2. The minimum feed of the ultrasonic probe 3-4 is 2mm, and a series of continuous tomographic images of the prostate are acquired. The position of the prostate cancer lesion is determined, and the position and posture of the particle implantation gun 4-1 are adjusted by controlling the particle implantation module 4 and the cross joint posture adjustment mechanism 2, so as to perform particle implantation treatment on the patient. In emergency, the prostate close-range particle implantation robot can be stopped quickly, and the manual retraction into the safe zone can be realized through the manual pulleys 3-1-3.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. The utility model provides a prostate omnidirectional close range particle implantation robot, it includes position adjustment mechanism (1), cross joint gesture adjustment mechanism (2), ultrasonic image navigation module (3), particle implantation module (4), operation table car (5), its characterized in that:
the position adjusting mechanism (1) comprises an X-axis sliding table mechanism (1-1) and a Z-axis lifting adjusting mechanism (1-2); the X-axis sliding table mechanism (1-1) comprises a track sliding table (1-1-1), a screw rod I (1-1-2), a screw rod nut I (1-1-3), a screw rod sliding block (1-1-4), a track sliding block (1-1-5), a sliding table base I (1-1-6), an anti-collision pad (1-1-7), a motor base I (1-1-8), a motor I (1-1-9) and a supporting plate I (1-1-10); the left side and the right side of the sliding table base I (1-1-6) are respectively provided with a track sliding table (1-1-1), each track sliding table (1-1-1) is provided with 2 track sliding blocks (1-1-5), and the track sliding blocks (1-1-5) can freely slide on the track sliding table (1-1-1); the motor base I (1-1-8) is arranged at one end of the sliding table base I (1-1-6), the motor I (1-1-9) is fixedly connected to the motor base I (1-1-8) through 4 screws, the screw rod I (1-1-2) is connected with an output shaft of the motor I (1-1-9), the screw rod nut I (1-1-3) is in threaded connection with the screw rod I (1-1-2), the screw rod nut I (1-1-3) is provided with a screw rod sliding block (1-1-4), one side of the screw rod nut I (1-1-3) and the other side of the screw rod sliding block (1-1-4) are respectively provided with an anti-collision pad (1-1-7), the screw rod sliding block (1-1-4) and the 4 track sliding blocks (1-1-5) are arranged on the same horizontal plane, the supporting plate I (1-1-10) is arranged on the screw rod sliding block (1-1-4) and the 4 track sliding blocks (1-1-5), the screw rod sliding block (1-1-2) is driven to rotate by the motor I (1-1-2), so that a lead screw sliding block (1-1-4) on a lead screw nut I (1-1-3) drives a supporting plate I (1-1-10) to move, an X-axis sliding table mechanism (1-1) is moved in the X direction, a Z-axis lifting adjusting mechanism (1-2) is fixedly connected to the supporting plate I (1-1-10), the Z-axis lifting adjusting mechanism (1-2) comprises a fixed base (1-2-1) and a movable sliding table (1-2-2), and the Z-axis lifting adjusting mechanism (1-2) is bidirectionally slid in the Z-axis direction through the matching connection of a sliding way boss (1-2-1-1) on the fixed base (1-2-1) and a sliding way groove (1-2-2-1) on the movable sliding table (1-2-2); the operation trolley (5) comprises universal wheels (5-1), drawers (5-2) and arc handles (5-3), stepped holes (1-1-6-1) are formed in a sliding table base I (1-1-6) of the X-axis sliding table mechanism (1-1), and the X-axis sliding table mechanism (1-1) is fixed on the operation trolley (5) through bolts and nuts;
the cross joint posture adjusting mechanism (2) comprises a servo motor I (2-1), a motor base II (2-2), a speed reducer I (2-3), a Z-axis rotating bracket (2-4), an X-axis rotating bracket (2-5), a speed reducer II (2-6) and a servo motor II (2-7), wherein the cross joint posture adjusting mechanism (2) is arranged on a step base (1-2-2) of a movable sliding table (1-2), the motor base II (2-2) is arranged below the speed reducer I (2-3), the servo motor I (2-1) is arranged below the motor base II (2-2) through 4 screws, an output flange of the speed reducer I (2-3) is fixedly connected with a flange fastening hole I (2-4-1) of the Z-axis rotating bracket (2-4), the servo motor I (2-1) drives an output flange of the speed reducer I (2-3) to enable the cross joint posture adjusting mechanism (2) to move around the Z-axis rotating bracket (2-4) and a pin hole (2-4) is formed in one end of the speed reducer II (2-4) of the Z-axis rotating bracket (2-4), the speed reducer II (2-6) is fixedly arranged on the speed reducer fixing seat (2-4-2) through 1 locating pin and 4 screws, the servo motor II (2-7) is fixedly connected to a motor base III (2-4-5) of the Z-axis rotating support (2-4), connecting seats (2-5-2) are formed at two ends of the X-axis rotating support (2-5), 6 flange fastening holes II (2-5-1) are formed in the connecting seats (2-5-2), the connecting seats (2-5-2) are fixedly connected with an output flange of the speed reducer II (2-6) through 6 screws penetrating through the flange fastening holes II (2-5-1), and the servo motor II (2-7) drives the output flange of the speed reducer II (2-6) to enable the cross joint posture adjusting mechanism (2) to realize rotating motion around the X axis;
the ultrasonic image navigation module (3) comprises a Y-axis sliding table mechanism (3-1), an ultrasonic probe rotating mechanism (3-2), a puncture template (3-3) and an ultrasonic probe (3-4), the ultrasonic probe rotating mechanism (3-2) comprises a probe rotating bracket (3-2-1), an external fixing seat (3-2-2), a fixing bracket (3-2-3), a bracket shaft (3-2-4), a bracket (3-2-5), a bracket base (3-2-6), a stepping motor (3-2-7) and a coupler I (3-2-8), the puncture template (3-3) comprises a guide plate (3-3-1), a template supporting shaft (3-3-2), a guide plate lock button (3-3-3), a guide plate base (3-3-4) and a template connecting shaft (3-3-5), a navigation hole (3-3-1-1) and a conical arc groove (3-3-1-2) are arranged on the ultrasonic image navigation module (3-3) and the ultrasonic image navigation module (3) is arranged on the positive sliding table (1-1) of the sliding table (1-5), the motor II (3-1-4) drives the Y-axis sliding table mechanism (3-1) to move in the Y-axis direction, the manual pulley (3-1-3) arranged on the motor II (3-1-4) can enable the ultrasonic image navigation module (3) to move backwards through manually rotating the manual pulley (3-1-3) under emergency or power failure, the support plate II (3-1-2) is provided with an outer fixing seat (3-2-2) and a bracket base (3-2-6), the outer fixing seat (3-2-2) is provided with a rotatable probe rotating bracket (3-2-1), the bracket (3-2-5) is connected with the probe rotating bracket (3-2-1) through 3 bracket shafts (3-2-4), the fixing bracket (3-2-3) is arranged in the middle of the bracket shafts (3-2-4) and is used for fixing the ultrasonic probe (3-4) arranged on the bracket (3-2-5) and the probe rotating bracket (3-2-1), an output shaft of the stepping motor (3-2-7) is fixedly connected with the bracket (3-2-5) through the coupler I (3-2-8), so that the ultrasonic probe (3-4) can rotate around the Y-axis direction to acquire a sequence ultrasonic image of a prostate focus region, the guide plate base (3-3-4) is fixedly connected with one end of the sliding table base II (3-1-1) through the template connecting shaft (3-3-5), two ends of the guide plate base (3-3-4) are provided with the template supporting shafts (3-3-2) which can be adjusted up and down, the guide plate lock buttons (3-3-3) are used for locking the template supporting shafts (3-3-2), and the guide plate (3-3-1) is arranged above the template supporting shafts (3-3-2);
the particle implantation module (4) comprises a particle implantation gun (4-1), an X-axis fixed point mechanism (4-2) and a Z-axis fixed point mechanism (4-3), wherein the particle implantation gun (4-1) comprises an outer needle control motor (4-1-1), an inner needle control motor (4-1-2), a coupler II (4-1-3), a coupler III (4-1-4), an I-shaped base (4-1-5), a lead screw II (4-1-6), a lead screw III (4-1-7), a nut sliding sleeve I (4-1-8), an inner needle mounting seat (4-1-9), a lead screw nut II (4-1-10), a lead screw nut III (4-1-11), a nut sliding sleeve II (4-1-12), an outer needle mounting seat (4-1-13), a particle cartridge holder (4-1-14), a particle gun seat (4-1-15), an inner needle (4-1-16), an outer needle (4-1-17) and a needle (4-1-18), and the X-axis fixed point mechanism (4-2) comprises a mounting plate (2-2) of the motor, the Z-axis fixed point mechanism (4-3) comprises a motor IV (4-3-1), a connecting fixing frame (4-3-2), a motor connecting seat (4-3-3), a screw rod V (4-3-4), a light bar II (4-3-5), a nut sliding table (4-3-6) and a connecting stand (4-3-7), 2M 6 threaded holes (4-3-2-1) are formed in the connecting fixing frame (4-3-2) of the Z-axis fixed point mechanism (4-3), the connecting fixing frame (4-3-2) is fixedly connected to a base II (3-1) of the Y-axis sliding table mechanism (3-1) through screws, the connecting fixing frame (4-3-2) is arranged below the motor connecting seat (4-3-3) of the connecting fixing frame (4-3-2), the motor IV (4-3-1) is arranged below the motor connecting seat (4-3-3), a connecting vertical frame (4-3-7) is arranged above the connecting fixing frame (4-3-2), the screw rod V (4-3-4) and the light bar II (4-3-5) are arranged on the connecting vertical frame, and the screw rod V (4-3-4) is connected with an output shaft of the motor IV (4-3-1); screw V (4-3-4) and feed rod II (4-3-5) are provided with nut sliding tables (4-3-6), the nut sliding tables (4-3-6) are in threaded connection with the screw V (4-3-4), a connecting truss (4-2-9) of the X-axis fixed point mechanism (4-2) is fixedly connected to one side of the nut sliding tables (4-3-6), a motor mounting plate (4-2-2) is arranged on the other side of the nut sliding tables (4-3-6), a motor III (4-2-1) is mounted on the motor mounting plate (4-2-2), a screw IV (4-2-6) and a feed rod I (4-2-7) are arranged on the connecting truss (4-2-9), the screw IV (4-2-6) is connected with an output shaft of the motor III (4-2-1) through a coupler IV (4-2-3), a screw IV (4-2-4) is arranged on the feed rod IV (4-2-6), a linear bearing (4-5) is arranged on the feed rod I (4-2-7), the particle gun connecting plate (4-2-8) is fixedly connected to the screw nut IV (4-2-4) and the linear bearing (4-2-5), the particle implantation gun (4-1) is arranged below the particle gun connecting plate (4-2-8), the motor IV (4-3-1) drives the screw V (4-3-4) to rotate, the particle implantation gun (4-1) can move in the Z-axis direction, the motor III (4-2-1) drives the screw IV (4-2-6) to rotate, and the particle implantation gun (4-1) can move in the X-axis direction;
the particle gun seat (4-1-15) of the particle implantation gun (4-1) is arranged below the particle gun connecting plate (4-2-8), the I-shaped base (4-1-5) is arranged at the rear end of the particle gun seat (4-1-15), and the I-shaped base (4-1-5) is provided with an outer needle control motor (4-1-1) and an inner needle control motor (4-1-2); the output shaft of the outer needle control motor (4-1-1) is connected with a screw rod II (4-1-6) arranged on the particle gun seat (4-1-15) through a coupler II (4-1-3), and the output shaft of the inner needle control motor (4-1-2) is connected with a screw rod III (4-1-7) arranged on the particle gun seat (4-1-15) through a coupler III (4-1-4); the screw II (4-1-6) is provided with a nut sliding sleeve I (4-1-8) and a screw nut III (4-1-11), the screw II (4-1-6) is connected with the screw nut III (4-1-11) through threads, the screw III (4-1-7) is provided with a screw nut II (4-1-10) and a nut sliding sleeve II (4-1-12), and the screw III (4-1-7) is connected with the screw nut II (4-1-10) through threads; the inner needle mounting seat (4-1-9) is arranged on the nut sliding sleeve I (4-1-8) and the screw nut II (4-1-10), and the inner needle (4-1-16) is arranged on the inner needle mounting seat (4-1-9); the outer needle mounting seat (4-1-13) is mounted on the screw nut III (4-1-11) and the nut sliding sleeve II (4-1-12), the particle cartridge bin (4-1-14) is arranged on the outer needle mounting seat (4-1-13), the bottom end of the outer needle (4-1-17) penetrates through the interior of the particle cartridge bin (4-1-14), the outer needle (4-1-17) moves on the needle fixing frame (4-1-18), and the needle fixing frame (4-1-18) can play a supporting role in the moving process of the outer needle (4-1-17) to prevent the outer needle (4-1-17) from bending.
2. The prostate omnidirectional close-range particle implantation robot of claim 1, wherein: an array navigation hole (3-3-1-1) with the center distance of 80mm multiplied by 80mm and the center distance of 4mm is arranged on the guide plate (3-3-1), a conical arc groove (3-3-1-2) is formed in the front end of the navigation hole (3-3-1-1), and the edges of the conical arc grooves (3-3-1-2) are tangent; if errors exist, when the outer needle (4-1-17) approaches the guide plate (3-3-1), the tip of the outer needle (4-1-17) is arranged on the conical arc groove (3-3-1-2), and the outer needle (4-1-17) can slide into the navigation hole (3-3-1-1) along the conical arc groove (3-3-1-2).
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| CN201810620460.2A CN108969878B (en) | 2018-06-15 | 2018-06-15 | All-round close range particle implantation robot of prostate |
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| CN108969878B true CN108969878B (en) | 2023-06-06 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109620365A (en) * | 2019-01-15 | 2019-04-16 | 上海精劢医疗科技有限公司 | A kind of navigation puncture system and control method |
| CN109771811B (en) * | 2019-03-23 | 2021-06-22 | 哈尔滨理工大学 | Parallel robot for implanting particles into prostate flexible needle |
| CN110141317B (en) * | 2019-05-21 | 2024-03-29 | 天津大学 | Multi-needle automatic puncture device for tumor radioactive particle implantation treatment |
| CN112295112A (en) * | 2019-07-31 | 2021-02-02 | 广州康近医疗技术有限公司 | Beta particle intracavity therapeutic machine for prostate cancer |
| CN111840777B (en) * | 2020-07-09 | 2021-10-22 | 佛山市柏康机器人技术有限公司 | Prostate particle implantation system based on cooperative robot |
| CN112370647A (en) * | 2020-10-12 | 2021-02-19 | 珠海横乐医学科技有限公司 | Ultrasonic-guided multi-degree-of-freedom radioactive particle implantation robot |
| CN112206406B (en) * | 2020-11-11 | 2022-09-30 | 哈尔滨理工大学 | Linear motor driven hand-held electric particle implantation gun |
| CN112643662B (en) * | 2020-12-21 | 2022-09-27 | 上海交通大学 | Multi-degree-of-freedom operating robot with force sense perception |
| CN112656518A (en) * | 2020-12-23 | 2021-04-16 | 上海御瓣医疗科技有限公司 | Medical catheter placing structure |
| CN112999528A (en) * | 2020-12-24 | 2021-06-22 | 佛山市柏康机器人技术有限公司 | Control system and method of multi-needle continuous electric particle implantation device |
| CN113367777A (en) * | 2021-06-09 | 2021-09-10 | 大连医工机器人科技有限公司 | Artificial intelligence robot-assisted prostate targeted puncture diagnosis and treatment device |
| CN116688374A (en) * | 2022-03-03 | 2023-09-05 | 杭州大士科技有限公司 | Radioactive source implantation system with core pulling mechanism and use method thereof |
| CN114949634A (en) * | 2022-05-20 | 2022-08-30 | 哈尔滨理工大学 | Electric hand-held particle implantation gun using flexible wire |
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