CN109124770A - A kind of prostate biopsy robot - Google Patents
A kind of prostate biopsy robot Download PDFInfo
- Publication number
- CN109124770A CN109124770A CN201810863481.7A CN201810863481A CN109124770A CN 109124770 A CN109124770 A CN 109124770A CN 201810863481 A CN201810863481 A CN 201810863481A CN 109124770 A CN109124770 A CN 109124770A
- Authority
- CN
- China
- Prior art keywords
- probe
- prostate
- robot
- mechanical arm
- puncture
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
Abstract
The invention discloses the prostate biopsy robots that a kind of magnetic resonance or CT guide comprising prefastening removable probe, probe fixing frame, TCP fixed point manipulation multi-freedom robot, computer console with range unit.The prostate biopsy robot not only achievable accurate puncture for lesion can also be such that the puncture of 12 dot system of prostate is more readily accomplished.
Description
Technical field
The invention belongs to medical instruments fields, are related to a kind of prostate biopsy robot, and in particular to a kind of magnetic resonance
(MRI) and/or CT guidance probe-type prostate biopsy robot.
Background technique
Prostate cancer falls ill second in global malignant tumour, has been in male tumor first in the U.S..In recent years I
State's prostate-cancer incidence rises year by year.Unlike other tumours, prostate cancer more stoves in prostate gland are dispersed in point
Cloth, the iconographies such as CT, MRI means cannot be made a definite diagnosis, and making a definite diagnosis for it is required to aspiration biopsy of prostatic gland.Physical examination screening prostate-specific
Property antigen (PSA) raised gerontal patient, there are about 20%-30% puncture be diagnosed as prostate cancer.China's prostate cancer in 2015
New cases 60300, it means that China current year ten thousand people of about 20-30 receives aspiration biopsy of prostatic gland.Prostate gland is most
Major diameter is about 3.5-5.5cm, this just determines that the target organ of puncture limits to very much, is punctured to and is dispersed in this narrow range
The lesion of distribution needs to puncture precision high.Current most of units still manually puncture, and reduce leakage by increasing point of puncture
Examine rate.Aspiration biopsy of prostatic gland is mostly that the system of 12 needles punctures at present.Nonetheless, the cancerous tissue of some patientss still is not obtained
It takes, as the continuation of PSA significantly increases, it is also necessary to secondary puncture.Therefore, with the Needle-driven Robot of precision navigation positioning function
Research and development be necessary.
Can percutaneous puncture robot smoothly complete task, the ability and puncture path depending on navigator fix lesion
Planning.In practical applications, the Body Position Change of human body or respiratory movement etc. can make lesion spatial position change.It is existing
The navigation positional device of some percutaneous puncture robot applications has optical alignment and electromagnetic location etc., places electromagnetism in specific position
Or optical sensor, several pieces of locators are put as reference, by survey calculation lesion and respectively in patient body-surface or specific position
The distance of locator positions it in the position of three-dimensional space, designs puncture path.This is to the biggish organ of volume or disease
Stove is easier to realize, but prostate average external volume only has 40ml, and is dispersed in and is distributed in tumor tissues therein and is even more
It is very little.The positioning device for being placed on body surface can breathe, and small offset occurs under the influence of mobile or puncture movement.This
Outside, check that the position for obtaining image is different from position when puncture.The lesion localization that these factors can be such that original image guides exists
Puncture needle fails before reaching lesion.To overcome the problems, such as displacement, when neurology department positions lesion in this way before operation of opening cranium,
It needs patient to hammer into skull across scalp with several nibbed screws on skull fixed frame under general anesthesia to be fixed, damage is very
Greatly.And prostate biopsy is operated under local anaesthesia, is not suitable for this fixing means, and when MRI is checked is horizontal position, when puncture is
Lithotomy position, amplitude of fluctuation are very big.So the navigation and positioning of prostate biopsy need to break through original Design Thinking.
Prostate biopsy robot applies ultrasonic guidance more at present, punctures for system.The puncture of magnetic resonance guiding in real time
It is high to the material requirements of pricking device, it is difficult to make.And it needs to design large-scale magnetic resonance tool, occupies great space
And personnel depaly, it is difficult universal on a large scale.Can enough ultrasonic guiding in real time puncture and micro- with magnetic resonance (MRI) identification
The method of small lesion has become a hot topic of research, and the fusion that this method is known as MRI image guidance punctures.Its principle is to puncture
Preceding progress prostate MRI scan generates faultage image, shows the lesions position of each level, and transrectal ultrasonography guidance is worn when puncture
Pricker punctures,, can be by this according to the prostate diameter and profile of ultrasound display in some level of ultrasonic scanning to prostate
A level is shown as MRI image simultaneously, thus can substantially judge lesion in the spatial position of prostate, then ultrasonic guidance is worn
Pricker is punctured to this direction.Its advantages are the MRI advantage high to prostate cancer diagnosis susceptibility to be utilized, and breach
Puncture can be completed in limitation of the MRI to stab material, common metal needle.
Although the fusion piercing method of MRI image guidance increases the specific aim to prostate lesion, in clinical application
When there are still very big difficulties.
1. it is very long to complete good accurately image co-registration time-consuming, because without apparent object of reference, when determining fusion level
The prostate diameter or general shape in certain level that can only be shown according to color ultrasound and MRI image are to determine whether at two kinds of images
In same level.And each level requires adjustment again, it is quite time-consuming.
2. image merges completely, difficulty is big, and puncture precision is limited.It is along cephalocaudal axis when because of patient's row MRI tomoscan
It carries out, each cross-section image is all vertical with this axis, this axis and the angle of position posture and bed when detection have correlation.
And when puncturing, human body is difficult to be completely recovered to position posture when row MRI is checked, and the advance and retreat of per rectum color ultrasound can not be along original
The axis come is completed, this section for resulting in the sectoring plane of color ultrasound to be formed when being difficult completely along MRI scan carries out, disease
It the position that stove is shown may be in the slightly forward or square later of actual horizon.
3. breathing, posture, position cause lesion offset that can not perceive and control.Prostate is located at pelvic cavity, though position is opposite
Fixed, but still have certain mobility, when puncture, needs lithotomy position to complete, compared with dorsal position when row MRI is checked, prostate position
Certain variation can be had by setting.When this results in color ultrasound guiding in real time, former MRI image is deviated with prostate physical location, is punctured
When there is error.
Summary of the invention
To overcome the above problem in existing prostate biopsy technology, we visualize a kind of completely new puncture thinking.
Through having been invented a kind of prostate biopsy robot to largely studying and testing repeatedly, especially a kind of magnetic resonance, CT are guided
Probe-type prostate biopsy robot can be applied to prostate and precisely puncture with system puncture to make a definite diagnosis prostate cancer.
Specifically, the present invention includes following technical solution.
A kind of prostate biopsy robot comprising: prefastening removable probe, probe fixing frame have range unit
Such as TCP (Tool Center Pint, tool center point) the fixed point manipulation multi-freedom robot of graduated scale, computer control
Platform, wherein
The prefastening removable probe is whole in a tubular form, along from prostate end of probe to the direction at pretensioning operation end
Successively include water pocket or umbrella anchoring device and the water pocket or the tube body of umbrella anchoring device airtight connection, be set in tube body
On clamp-press type fixed ring, pre-tighten screw, positioned at clamp-press type fixed ring and pre-tighten screw between tube wall water injection pipe and
Drainage tube, is provided with a multi-joint chain structure in the tube body, which includes series of identical or essentially identical
Hollow segment, the non-metallic fibers silk across these segments, non-metallic fibers silk one end (i.e. top) are visited near prostate
The segment for surveying end is fixedly connected, and the other end is fixedly connected with screw is pre-tightened, and the tube body is soft tube body, preferably silicone tube or cream
Sebific duct；
The probe fixing frame include three ends be connected by universal shaft, can relatively rotate with respect to each other connecting rod, thus
The angle of adjustable three connecting rods is used wherein the top of two connecting rod, that is, first connecting rods and second connecting rod is respectively equipped with pedestal
In shoring anterior superior spine, the top of third connecting rod is equipped with openable and closable card slot or snap ring, for grasping fixed probe；
TCP fixed point manipulation multi-freedom robot include as main part cabinet body, be connected and fixed on the cabinet
Ranging mechanical arm and mechanical arm is punctured, is provided at the position for being located at range finder tool arm on the cabinet body and respectively comes with the vertical of scale
To sliding slot and horizontal concrete chute, ranging mechanical arm is moved up and down along sliding slot；The ranging mechanical arm can
It stretches relative to cabinet body, and is marked with flexible scale, the ranging mechanical arm other end (i.e. front end) in the part close to cabinet body
Locating rod equipped with protractor and for being connected and fixed probe, locating rod can be rotated using protractor central point as axis；Institute
Multifreedom motion can be carried out by stating puncture mechanical arm, and front end is for being connected and fixed puncture needle；
The computer console is connected with TCP fixed point manipulation multi-freedom robot (is electrically connected or communicates company
Connect), sectional analysis and 3D reconstruction are carried out for inputting MRI image, plans inserting needle route and needle track distribution, and be provided with handle use
The posture and movement of mechanical arm are punctured in control.
In a preferred embodiment, it is provided with scale on above-mentioned probe, for showing that probe enters the depth of human body
Degree, the scale can be set on inboard wall of tube body, also can be set on each segment.These scales or graduation indication can be with
It is printed on inboard wall of tube body or segment, can also be formed when these carriers form, for example can be set on each segment top
There is small protrusion to be used to refer to scale.
The shape of segment in above-mentioned chain structure is preferably cylindrical body.
Preferably, the material of each segment in above-mentioned chain structure be plastics or other non-metallic rigid materials such as
Carbon fibre material, the fiber filament are carbon fiber or nylon yarn.
Above-mentioned clamp-press type fixed ring is preferably provided at the rear end of tube body, can slide along tube body and be securable to appointing for tube body
Meaning is a bit.
In a preferred embodiment, the outer diameter of above-mentioned silicone tube is suitable with catheter, outer likeness in form catheter.
In one embodiment, the material of above-mentioned water pocket or umbrella anchoring device is latex, be may expand after water filling.
Above-mentioned drainage tube communicates with the outside world, for guiding water and/or urine to flow out.
Surface positioned at the pedestal on above-mentioned first connecting rod and second connecting rod top covers viscose glue, is used for and anterior superior spine surface
Adhering skin.
Optionally, above-mentioned probe fixing frame is made of plastics or organic glass.
In a preferred embodiment, above-mentioned ranging mechanical arm can be located at cabinet body top, and puncturing mechanical arm can be with
Positioned at cabinet body lower part.
Above-mentioned puncture mechanical arm includes more than two arms, such as two arms, mutually hinged.
Preferably, the puncture mechanical arm is a 6DOF mechanical arm.
Above-mentioned puncture mechanical arm front end is equipped with needle propeller and percussion lock for manipulating puncture needle.
In a preferred embodiment, above-mentioned prostate biopsy robot is under magnetic resonance (MRI) and/or CT guidance
It carries out lesion localization and 12 dot system of prostate punctures.
Above-mentioned computer console adjusts the posture of each mechanical arm by data line, and virtual any in settable space
Point, making puncture mechanical arm front end, no matter which kind of posture is directed at this point.
Optionally, it can be guided with MRI or multi-parameter MRI when above-mentioned prostate biopsy robot is precisely punctured for lesion,
System can be guided when puncturing with MRI or CT.
The present invention changes the prostate biopsy detection thinking of the prior art, the spy walked in prostate using urethra
Point puts the prefastening probe with scale as object of reference in urethra, and when loosening, probe is flexibility, and outer likeness in form is commonly led
Urinary catheter is preset in urethra before MRI inspection, and MRI pre-tightens this probe when checking, probe then forms angle and shape is fixed, suitable
The L shape rod-like structure for answering urethra traveling lies down after fixing this probe as mark using a certain fixed point of pelvis and carries out MRI inspection.
It checks after terminating to obtain image, loosen probe, patient move freely the operating room of puncture, in the position for facilitating puncture (as cut
Stone position) probe is pre-tightened, angle when restoring to MRI to check, prostate position and state and MRI image are fitted when making to puncture.In advance
The end connection TCP of compact form probe is around a Needle-driven Robot.Scale is had due to pre-tightening probe, passes through each quarter shown on MRI
The space length of degree and suspicious lesions can calculate needle track.
This novel probe formula prostate biopsy robot can be used probe as object of reference after carrying out magnetic resonance examination
By algorithm calculate lesion three-dimensional coordinate and its with the positional relationship of puncture needle, adjust needle track in real time, pass through 6DOF
It punctures mechanical arm and adjusts puncture needle posture, can be punctured to lesion in all angles.Ultrasonic guiding in real time is not needed, is not needed
It is merged again with ultrasound image with magnetic resonance image, meanwhile, probe can also play the effect of fixed prostate, keep whole process time saving
It is laborsaving, it is more accurate.
Compared with prior art, beneficial effects of the present invention are as follows:
1, the fusion of existing multi-modality images is punctured and is reduced to single mode and precisely punctures by the present invention.
2, using probe as object of reference accurate calculation lesion spatial position.
3, prostate is anchored to specific position in pelvis by probe, and can make the complete position of prostate by adjusting probe posture
Position when MRI is checked, when the being automatically performed inspection and position of the when of puncture are fitted.
4, the drawing anchoring of probe can overcome lesion caused by soft tissue deformation mobile, guarantee the accuracy punctured.
5, TCP pinpoints Manipulation of the machine people technology maturation, for the lesions position calculated, can multiple degrees of freedom around puncturing.
Without constantly adjusting puncture needle under guiding in real time.
6, the full intellectualized operation of the present apparatus relies on doctor's technology extremely low.When precisely being punctured for lesion can with MRI or
Multi-parameter MRI guidance, system, which punctures, to be guided with MRI or CT.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of a prostate biopsy robotic embodiment according to the present invention；
Fig. 2 is a structural schematic diagram when probe embodiments according to the present invention are in relaxed state；
Fig. 3 is the pre- next structural schematic diagram of probe shown in Fig. 2；
Fig. 4 is the structural schematic diagram of a probe fixing frame embodiment according to the present invention；
Fig. 5 is the structural schematic diagram of a multi-freedom robot embodiment according to the present invention；
Fig. 6 is the positive schematic diagram of multi-freedom robot main part shown in display Fig. 5；
Fig. 7 is the schematic diagram shown after probe merging urethra；
Fig. 8 is the schematic diagram for showing probe merging urethra and pre- next linking probe fixed frame；
Fig. 9 is to show probe merging urethra and pre- next cooperation schematic diagram with probe fixing frame；
Figure 10 is to show probe merging urethra and pre- next top view with probe fixing frame cooperation；
Figure 11 is to show that probe is placed in the schematic diagram that urethra and pre- next lithotomy position connection Needle-driven Robot are punctured；
Figure 12 is to show that the pre- next robot of probe is imaged on the schematic diagram for losing shape face and positioning lesion by prostate MRI；
Figure 13 is to show that the pre- next robot of probe is imaged on the schematic diagram that coronal-plane positions lesion by prostate MRI.
Specific embodiment
Below in conjunction with attached drawing, technical solution of the present invention is described.Obviously, described embodiment is only this Shen
Please a part of embodiment, rather than whole embodiment；And structure shown in the drawings is only schematical, not
Represent material object.It should be noted that those of ordinary skill in the art are obtained all based on these embodiments in the present invention
Other embodiments shall fall in the protection scope of this application.
Prostate biopsy robot (abbreviation robot) of the invention is alternatively referred to as probe-type prostate biopsy robot,
Using probe as object of reference accurate calculation lesion spatial position；And it is guided, existing multi-modality images can be melted with MRI and CT
Suitable thorn is reduced to single mode and precisely punctures, and realizes intelligent operation.
For the sake of description simplicity, " prefastening removable probe " is referred to as " probe " sometimes herein, they are indicated
Identical meaning, may be used interchangeably.Sometimes the main part of robot is referred to as " main body " or " cabinet body ", they indicate identical
Meaning, may be used interchangeably.
Herein, term " TCP fixed point manipulation multi-freedom robot ", " multi-freedom robot " and " TCP fixed point behaviour
Man-controlled mobile robot " indicates identical meaning, may be used interchangeably.
Herein, term " preceding (end) " or " top " indicate probe along from prostate end of probe to the side at pretensioning operation end
To or from human body to the positional relationship in the direction outside human body or the direction upstream from human body to robot body, but simultaneously
It does not mean that and must be directed towards a certain fixed-direction in actual installation practice, just to show the positional relationship between all parts
Or connection relationship.Similarly, term " rear (end) ", " end ", " upper (side) ", "lower" etc. do not constitute absolute spatial relationship limit
It makes, only a kind of concept of relative position.This is that those skilled in the art can understand.
Prostate biopsy robot
Referring to Fig. 1, prostate biopsy robot 10 of the invention specifically includes that probe 1, and probe fixing frame 2 has ranging
TCP (Tool Center Pint, tool center point) the fixed point manipulation multi-freedom robot 3 of device such as graduated scale, calculates
Machine console 4.These component parts are described as follows respectively.
Probe 1
As shown in Figures 2 and 3, probe 1 of the invention is a kind of prefastening removable probe, integrally in a tubular form, along
It successively include water pocket or umbrella anchoring device 11 and the water pocket or umbrella from prostate end of probe to the direction at pretensioning operation end
The tube body 12 of 11 airtight connection of anchoring device, the clamp-press type fixed ring 13 being set on tube body 12 pre-tighten screw 14, are located at card pressure
Formula fixed ring 13 and the water injection pipe 15 and drainage tube 16 for pre-tightening 12 side wall of tube body between screw 14.
A multi-joint chain structure 17 is provided in the tube body 12, which includes series of identical or basic phase
Hollow segment 171 together, the non-metallic fibers silk 172 across these segments 171,172 one end of non-metallic fibers silk (i.e. top)
It is fixedly connected near the segment of prostate end of probe 171, the other end is fixedly connected with screw 14 is pre-tightened.
When specifically used, probe 1 is inserted into human body from urethra, as shown in Figure 7.In order to increase subject to the equipment
Adaptability and detection compliance, the material and body-sensing of tube body 12 should be same or similar with catheter, and the preferably described tube body 12 is
Soft tube body, preferably silicone tube or emulsion tube.
In a preferred embodiment, be provided with scale (not shown) on above-mentioned probe 1, for show probe 1 into
Enter the depth of human body, the scale can be set on 12 inner wall of tube body, also can be set on each segment 171.These are carved
Degree or graduation indication can be printed on 12 inner wall of tube body or segment 171, can also be formed when these carriers form, such as
Small protrusion can be equipped on each 171 top of segment be used to refer to scale.
The shape of segment 171 in above-mentioned chain structure 17 is preferably cylindrical body.
The material of each segment 171 in chain structure 17 is plastics or other non-metallic rigid materials such as carbon fiber material
Material, fiber filament 172 are carbon fiber or nylon yarn.
Clamp-press type fixed ring 13 is preferably provided at the rear end of tube body 12, as shown in Figures 2 and 3, can slide along tube body 12
And it is securable to any point of tube body 12.
It is preferred that the outer diameter of tube body 12 is suitable with common catheter, outer likeness in form catheter.
The material of water pocket or umbrella anchoring device 11 is latex, be may expand after water filling.
Drainage tube 16 communicates with the outside world, for guiding water and/or urine to flow out.
The present invention can be with accurate calculation lesion spatial position as object of reference by probe 1.Prostate is anchored to bone by probe 1
Specific position in basin, and prostate can be made to be fully located at position when MRI is checked by adjusting 1 posture of probe, it is automatically performed inspection
Position fitting when looking into and when puncturing.Obviously, the drawing anchoring of probe 1 can overcome lesion caused by soft tissue deformation mobile, protect
Demonstrate,prove the accuracy punctured.
Probe fixing frame 2
Referring to fig. 4 and Figure 10, but probe fixing frame 2 includes that several, preferably three ends by universal shaft 21 are connected that
This connecting rod 22-23 relatively rotated, so as to adjust the angle of three connecting rod 22-23.Wherein two connecting rods 22 are the first company
The top of bar 22 and second connecting rod 22 is respectively equipped with pedestal 24, for shoring the anterior superior spine of subject；Third connecting rod 23
Top is equipped with openable and closable card slot or snap ring 231, for grasping fixed probe 1.
Surface positioned at the pedestal 24 on 22 top of first connecting rod 22 and second connecting rod can cover viscose glue, for before ilium
The bonding of spine surface skin.
Probe fixing frame 2 is preferably made of plastics or organic glass.
Multi-freedom robot 3
As shown in Fig. 1, Fig. 5 and Fig. 6, TCP fixed point manipulation multi-freedom robot 3 of the invention includes as main part
Cabinet body 31, the ranging mechanical arm 32 being fastened on cabinet body 31 and mechanical arm 33 is punctured, is being located at ranging on the cabinet body 31
The position of mechanical arm 32 is provided with the longitudinal chute 321 and horizontal concrete chute 322 for respectively coming with scale, so that ranging mechanical arm 32 can
To move up and down along sliding slot 321,322.The ranging mechanical arm 32 can stretch relative to cabinet body 31, and
It is marked with flexible scale 323 close to the part of cabinet body 31,32 other end of ranging mechanical arm (i.e. front end) is equipped with protractor 324 and uses
In the locating rod 325 for being connected and fixed probe 1, locating rod 325 can be rotated using 324 central point of protractor as axis.Puncture machine
Tool arm 33 can carry out multifreedom motion, and front end is for being connected and fixed puncture needle 5.
Ranging mechanical arm 32 can be located at 31 top of cabinet body, and 31 lower part of cabinet body can be located at by puncturing mechanical arm 33.
Puncturing mechanical arm 33 includes more than two arms, mutually hinged, can be with multiple degrees of freedom capable of expansion and contraction, is preferably punctured
Mechanical arm 33 is a 6DOF mechanical arm.
33 front end of mechanical arm is punctured equipped with needle propeller and the percussion lock 331 for manipulating puncture needle 5.
Computer console 4
Referring to Fig. 1, Fig. 5 and Figure 11, computer console 4 is connected with multi-freedom robot 3, for inputting MRI figure
As carrying out sectional analysis and 3D reconstruction, inserting needle route and needle track distribution are planned, and it is (not shown) for controlling survey to be provided with handle
Posture and movement away from mechanical arm 32 and puncture mechanical arm 33.
Computer console 4 can be with the connection of multi-freedom robot 3 to be electrically connected and/or communication connection.
Computer console 4 adjusts the posture of each mechanical arm 32,33 by data line, and virtual any in settable space
Point, making puncture 33 front end of mechanical arm, no matter which kind of posture is directed at this point.
In a preferred embodiment, prostate biopsy robot 10 magnetic resonance (MRI) and/or CT guidance under into
Row lesion localization and 12 dot system of prostate puncture.
Prostate biopsy robot 10 can be guided when precisely puncturing for lesion with MRI or multi-parameter MRI, when system punctures
It can be guided with MRI or CT.
Use embodiment
State when relaxation after probe 1 is placed in patient's urethra is shown referring to Fig. 7-13, Fig. 7, Fig. 8 shows that probe 1 is pre-
Next state, Fig. 9 and Figure 10 show the mated condition of probe 1 Yu probe fixing frame 2, and Figure 11 shows that patient's lithotomy position connects
By the situation that robot 10 punctures, Figure 12 shows that robot 10 is imaged on the original lost shape face and position lesion by prostate MRI
Reason, Figure 13 show that robot 10 is imaged on the principle that coronal-plane positions lesion by prostate MRI.
When using robot 10 of the invention, prefastening positioning probe 1 is placed in first in the urethra of patient, such as Fig. 7 institute
Show, step is identical as self retaining catheter.At this time patient can free walker go to MRI inspection chamber, receive MRI scan at any time.When inspection
Patient's horizontal position after filling the water 10 milliliters to water pocket 11 by water injection pipe 15, is tightened and pre-tightens screw 14.At this point, prefastening positioning is visited
1 shape of needle becomes fixed approximate L shape, as shown in Fig. 3, Fig. 8 and 9.Before pedestal 24 in probe fixing frame 2 is pasted on ilium
Upper spine surface skin adjusts the angle of first connecting rod 22 and second connecting rod 22 according to patient size, third connecting rod 23 is holded up, and uses
The snap ring 231 on its top blocks probe 1, and adjustment angle makes probe 1 be in patient's midline position.Then, along prefastening probe 1
Slide downward clamp-press type fixed ring 13 squeezes from penis distal end to proximal segment, tightens fixed ring 13 after reaching certain limit and mark
Scale.In this way, prostate can be made to be fixed between water pocket 11 and fixed ring 13.
After inspection, probe fixing frame 2 to be dismantled, unclamps prefastening probe 1, probe 1 reverts to soft urinary catheter structure,
As shown in fig. 7, patient can free walker go to and puncture room and puncture at any time, or even can carry out another day.When puncture, patient cuts stone
Position installs probe fixing frame 2 by abovementioned steps and pre-tightens probe 1, fixed ring 13 tightened by former scale, by Needle-driven Robot 3
Ranging mechanical arm 32 carries out positioning conciliation, so that locating rod 325 is aimed at 1 top of prefastening probe and pre-tightens at screw 14, and connects solid
Determine probe 1.
The MRI image shown by computer picture, according to probe 1 when checking in the angle of horizontal plane and the angle in mistake shape face
Vernier range mechanical arm 32 and locating rod 325 are spent, the relationship of prefastening probe 1 and prostate, pelvis is made to be completely recovered to MRI inspection
State when looking into.It can be closed at this time according to the three-dimensional coordinate that the relative position of lesion and probe 1 generates lesion and prefastening probe 1
System, and then fixed point puncture is carried out according to the positional relationship guiding puncture mechanical arm 33 of probe 1 and ranging mechanical arm 32.TCP machine
After people determines target point, matrix template can be not necessarily to from 360 degree of any entry point around a puncture.If MRI image is without visible disease
Stove then carries out 12 dot system punctures, and computer console synthesizes 3-D image after can analyzing MRI faultage image, in stereo-picture
It is settable uniform 12 points upper, then it can easily carry out forefront glandular system puncture.
The multi-modality images fusion of the prior art is punctured and is reduced to single mode by prostate biopsy robot 10 of the invention
Precisely puncture.Since TCP pinpoints 3 technology maturation of Manipulation of the machine people, for the lesions position calculated, can multiple degrees of freedom around bringing out into the open
Thorn, without constantly adjusting puncture needle under guiding in real time.It is important that prostate biopsy robot 10 of the invention realizes
Intelligent operation relies on doctor's technology extremely low.It can be guided with MRI or multi-parameter MRI when precisely being punctured for lesion, system
Puncturing can be guided with MRI or CT.
Herein, the terms "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, from
And to include the process, method, article or equipments of a series of elements not only to include those elements, but also including not bright
The other element really listed, or further include for elements inherent to such a process, method, article, or device.Do not having
In the case where more limitations, the element that is limited by sentence "including a ...", it is not excluded that include the element process,
There is also other identical or equivalent elements in method, article or equipment.
Prostate biopsy robot provided herein is described in detail above, it is used herein specifically a
The principle and implementation of this application are described for example, the application's that the above embodiments are only used to help understand
Method and inventive concept；At the same time, for those skilled in the art, according to the thought of the application, in specific embodiment
And there will be changes in application range, in conclusion the contents of this specification should not be construed as limiting the present application.
Claims (10)
1. a kind of prostate biopsy robot comprising: prefastening removable probe, probe fixing frame, with range unit
TCP fixed point manipulation multi-freedom robot, computer console, wherein
The prefastening removable probe is whole in a tubular form, along from prostate end of probe to the direction at pretensioning operation end successively
Including water pocket or umbrella anchoring device and the water pocket or the tube body of umbrella anchoring device airtight connection, it is set on tube body
Clamp-press type fixed ring, pre-tighten screw, positioned at clamp-press type fixed ring and pre-tighten screw between tube wall water injection pipe and drainage
Pipe, is provided with a multi-joint chain structure in the tube body, which includes a series of hollow segments, passes through these segments
Non-metallic fibers silk, non-metallic fibers silk one end is fixedly connected near the segment of prostate end of probe, the other end and pre-
Tight screw is fixedly connected, and the tube body is soft tube body；
The probe fixing frame includes the connecting rod that three ends are connected by universal shaft, can be relatively rotated with respect to each other, wherein two
The top of connecting rod, that is, first connecting rod and second connecting rod is respectively equipped with pedestal, and for shoring anterior superior spine, the top of third connecting rod is set
There is card slot, for grasping fixed probe；
TCP fixed point manipulation multi-freedom robot include as main part cabinet body, be connected and fixed ranging on the cabinet
Mechanical arm and puncture mechanical arm, on the cabinet body the position for being located at range finder tool arm be provided with respectively come with scale longitudinal direction it is sliding
Slot and horizontal concrete chute allow ranging mechanical arm to move up and down along sliding slot；The ranging mechanical arm can be opposite
It stretches in cabinet body, and is marked with flexible scale in the part close to cabinet body, the ranging mechanical arm other end (i.e. front end) is equipped with
Protractor and locating rod for being connected and fixed probe, locating rod can be rotated using protractor central point as axis；It is described to wear
Thorn mechanical arm can carry out multifreedom motion, and front end is for being connected and fixed puncture needle；
The computer console pinpoints manipulation multi-freedom robot with the TCP and is connected, and carries out for inputting MRI image
Sectional analysis and 3D are rebuild, and plan inserting needle route and needle track distribution, and are provided with handle for controlling the posture for puncturing mechanical arm
And movement.
2. prostate biopsy robot as described in claim 1, which is characterized in that be provided with scale on the probe, be used for
Display probe enters the depth of human body, and the scale setting is on inboard wall of tube body or on each segment.
3. prostate biopsy robot as described in claim 1, which is characterized in that the material of the segment is plastics or carbon fiber
Dimension, the fiber filament are carbon fiber or nylon yarn.
4. prostate biopsy robot as described in claim 1, which is characterized in that the tube body is that outer diameter is suitable with catheter
Silicone tube.
5. prostate biopsy robot as described in claim 1, which is characterized in that the water pocket material is latex, after water filling
Expansion.
6. prostate biopsy robot as described in claim 1, which is characterized in that the drainage tube communicates with the outside world, and is used for
Guide water and/or urine outflow.
7. prostate biopsy robot as described in claim 1, which is characterized in that be located at the first connecting rod and second connecting rod
The surface of the pedestal on top covers viscose glue, for bonding with anterior superior spine surface skin.
8. prostate biopsy robot as described in claim 1, which is characterized in that the probe fixing frame is by plastics or organic
Glass is made.
9. prostate biopsy robot as described in claim 1, which is characterized in that the puncture mechanical arm front end is equipped with and is used for
Manipulate needle propeller and the percussion lock of puncture needle.
10. prostate biopsy robot as described in claim 1, which is characterized in that the prostate biopsy robot is in magnetic
Resonance and/or the lower progress lesion localization of CT guidance and 12 dot system of prostate puncture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810863481.7A CN109124770B (en) | 2018-08-01 | 2018-08-01 | Prostate puncture robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810863481.7A CN109124770B (en) | 2018-08-01 | 2018-08-01 | Prostate puncture robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109124770A true CN109124770A (en) | 2019-01-04 |
| CN109124770B CN109124770B (en) | 2020-03-31 |
Family
ID=64799371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810863481.7A Active CN109124770B (en) | 2018-08-01 | 2018-08-01 | Prostate puncture robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109124770B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109758213A (en) * | 2019-01-11 | 2019-05-17 | 宋刚 | A kind of magnetic resonance-ultrasound fusion prostate biopsy needle localization method and system |
| CN110279467A (en) * | 2019-06-19 | 2019-09-27 | 天津大学 | Ultrasound image under optical alignment and information fusion method in the art of puncture biopsy needle |
| CN111297448A (en) * | 2020-02-24 | 2020-06-19 | 东软医疗系统股份有限公司 | Puncture positioning method, device and system |
| CN111839592A (en) * | 2020-08-13 | 2020-10-30 | 厦门市领汇医疗科技有限公司 | Prostate detection device |
| CN113749694A (en) * | 2021-10-11 | 2021-12-07 | 上海交通大学医学院附属第九人民医院 | Puncture biopsy and ablation system |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040030333A1 (en) * | 1999-01-15 | 2004-02-12 | Gyrus Medical Ltd. | Electrosurgical system and method |
| CN2712301Y (en) * | 2004-06-17 | 2005-07-27 | 冯威健 | Guiding device for puncturation, biopsy and injection under CT |
| CN2745592Y (en) * | 2004-09-13 | 2005-12-14 | 常乐政 | Prostate traction fixing catheter device |
| WO2007064937A1 (en) * | 2005-12-02 | 2007-06-07 | University Of Rochester | Image-guided therapy delivery and diagnostic needle system |
| CN201040002Y (en) * | 2006-06-07 | 2008-03-26 | 向德琦 | Dilator for prostate transmission apparatus |
| CN101632596A (en) * | 2008-07-25 | 2010-01-27 | 哈尔滨理工大学 | Robot for aspiration biopsy of prostatic gland |
| CN101677850A (en) * | 2007-05-16 | 2010-03-24 | 马里昂·德沃纳 | Device for positioning a stent |
| CN107088260A (en) * | 2017-06-12 | 2017-08-25 | 广州优尼康通医疗科技有限公司 | The adjustable composite columnar aqueous capsule prostate dilation catheter of convex |
| CN107260269A (en) * | 2017-07-11 | 2017-10-20 | 哈尔滨理工大学 | A kind of ultrasound guidance robot for aspiration biopsy of prostatic gland |
-
2018
- 2018-08-01 CN CN201810863481.7A patent/CN109124770B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040030333A1 (en) * | 1999-01-15 | 2004-02-12 | Gyrus Medical Ltd. | Electrosurgical system and method |
| CN2712301Y (en) * | 2004-06-17 | 2005-07-27 | 冯威健 | Guiding device for puncturation, biopsy and injection under CT |
| CN2745592Y (en) * | 2004-09-13 | 2005-12-14 | 常乐政 | Prostate traction fixing catheter device |
| WO2007064937A1 (en) * | 2005-12-02 | 2007-06-07 | University Of Rochester | Image-guided therapy delivery and diagnostic needle system |
| CN201040002Y (en) * | 2006-06-07 | 2008-03-26 | 向德琦 | Dilator for prostate transmission apparatus |
| CN101677850A (en) * | 2007-05-16 | 2010-03-24 | 马里昂·德沃纳 | Device for positioning a stent |
| CN101632596A (en) * | 2008-07-25 | 2010-01-27 | 哈尔滨理工大学 | Robot for aspiration biopsy of prostatic gland |
| CN107088260A (en) * | 2017-06-12 | 2017-08-25 | 广州优尼康通医疗科技有限公司 | The adjustable composite columnar aqueous capsule prostate dilation catheter of convex |
| CN107260269A (en) * | 2017-07-11 | 2017-10-20 | 哈尔滨理工大学 | A kind of ultrasound guidance robot for aspiration biopsy of prostatic gland |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109758213A (en) * | 2019-01-11 | 2019-05-17 | 宋刚 | A kind of magnetic resonance-ultrasound fusion prostate biopsy needle localization method and system |
| CN110279467A (en) * | 2019-06-19 | 2019-09-27 | 天津大学 | Ultrasound image under optical alignment and information fusion method in the art of puncture biopsy needle |
| CN111297448A (en) * | 2020-02-24 | 2020-06-19 | 东软医疗系统股份有限公司 | Puncture positioning method, device and system |
| CN111839592A (en) * | 2020-08-13 | 2020-10-30 | 厦门市领汇医疗科技有限公司 | Prostate detection device |
| CN111839592B (en) * | 2020-08-13 | 2023-12-29 | 厦门市领汇医疗科技有限公司 | Prostate detection device |
| CN113749694A (en) * | 2021-10-11 | 2021-12-07 | 上海交通大学医学院附属第九人民医院 | Puncture biopsy and ablation system |
| CN113749694B (en) * | 2021-10-11 | 2023-08-15 | 上海交通大学医学院附属第九人民医院 | Puncture biopsy and ablation system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109124770B (en) | 2020-03-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109124770A (en) | A kind of prostate biopsy robot | |
| US6064904A (en) | Frameless stereotactic CT scanner with virtual needle display for planning image guided interventional procedures | |
| US6206890B1 (en) | Remote actuation of trajectory guide | |
| CA2159162C (en) | Interventional medicine apparatus | |
| CN105796177B (en) | For guiding the system and method for medical instrument | |
| US6752812B1 (en) | Remote actuation of trajectory guide | |
| US6731966B1 (en) | Systems and methods for targeting a lesion | |
| US4930525A (en) | Method for performing C.T. guided drainage and biopsy procedures | |
| US5590655A (en) | Frameless laser guided stereotactic localization system | |
| CN206612845U (en) | The percutaneous interventional programs robot of non-vascular | |
| EP2584990B1 (en) | Focused prostate cancer treatment system | |
| CN101474075B (en) | Navigation system of minimal invasive surgery | |
| US6249695B1 (en) | Patient movement during image guided surgery | |
| US8123697B2 (en) | Method and apparatus for MR-guided biopsy | |
| EP1958588A2 (en) | Medical guide for guiding a medical instrument | |
| EP0160238A2 (en) | Apparatus for stereotaxic placement of probes inthe body utilizing CT scanner localization | |
| US7744607B2 (en) | Marking catheter for placement using frameless stereotaxy and use thereof | |
| CN106999171A (en) | Equipment for guiding needle | |
| CN106073865B (en) | A kind of external assisted biopsy/positioning device of 3D printing and preparation method thereof | |
| CN102090932A (en) | CT guided lung puncture positioning instrument | |
| WO2016135594A1 (en) | Apparatus and method for positioning medical instruments assisted by indirect visualization | |
| CN205672061U (en) | A kind of intervertebral foramina guide device | |
| US7014643B2 (en) | Apparatus for endorectal prostate biopsy | |
| CA2372148A1 (en) | Systems and methods for targeting a breast lesion | |
| CN2435052Y (en) | Magnetic resonance x-ray double-location leading hepatic portal vein and hepatic duct puncture device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210517 Address after: 201401 rooms 1302, 1303, 1304, 1305, 1306, 1307 and 1309, building 3, 1588, Huhang Road, Fengxian District, Shanghai Patentee after: SHANGHAI BOJIE MEDICAL TECHNOLOGY Co.,Ltd. Address before: 200032 Shanghai city Xuhui District Fenglin Road No. 180 Patentee before: Zhongshan Hospital, Fudan University |
|
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 201401 rooms 1302, 1303, 1304, 1305, 1306, 1307 and 1309, building 3, 1588, Huhang Road, Fengxian District, Shanghai Patentee after: Shanghai Berger Medical Technology Co.,Ltd. Address before: 201401 rooms 1302, 1303, 1304, 1305, 1306, 1307 and 1309, building 3, 1588, Huhang Road, Fengxian District, Shanghai Patentee before: SHANGHAI BOJIE MEDICAL TECHNOLOGY CO.,LTD. |