CN110141317A - A kind of tumour radiotherapy seeds implanted treatment spininess automatic puncturing device - Google Patents
A kind of tumour radiotherapy seeds implanted treatment spininess automatic puncturing device Download PDFInfo
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- CN110141317A CN110141317A CN201910422756.8A CN201910422756A CN110141317A CN 110141317 A CN110141317 A CN 110141317A CN 201910422756 A CN201910422756 A CN 201910422756A CN 110141317 A CN110141317 A CN 110141317A
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- 206010028980 Neoplasm Diseases 0.000 title claims abstract description 40
- 210000003857 wrist joint Anatomy 0.000 claims description 85
- 210000000323 shoulder joint Anatomy 0.000 claims description 31
- 239000011324 bead Substances 0.000 claims description 22
- 239000003638 chemical reducing agent Substances 0.000 claims description 21
- 238000009826 distribution Methods 0.000 claims description 16
- 238000003860 storage Methods 0.000 claims description 15
- 238000004458 analytical method Methods 0.000 claims description 6
- 230000002285 radioactive effect Effects 0.000 abstract description 8
- 238000002513 implantation Methods 0.000 description 14
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- 229910000851 Alloy steel Inorganic materials 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000001574 biopsy Methods 0.000 description 2
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- 239000000203 mixture Substances 0.000 description 2
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- 230000001360 synchronised effect Effects 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 101100206915 Arabidopsis thaliana TL17 gene Proteins 0.000 description 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
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- 230000004663 cell proliferation Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3468—Trocars; Puncturing needles for implanting or removing devices, e.g. prostheses, implants, seeds, wires
-
- 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
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- 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
- A61B34/32—Surgical robots operating autonomously
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3411—Needle locating or guiding means using mechanical guide means with a plurality of holes, e.g. holes in matrix arrangement
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- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses a kind of tumour radiotherapy seeds implanteds to treat spininess automatic puncturing device, including mobile position-fixed module (100), arm lifting module (200), Template Location module (300) and automatic puncturing module (400), wherein: the top of mobile position-fixed module (100) is connected with the lower part of both arms lifting module (200)；Both arms go up and down the top of module (200), are equipped with Template Location module (300) and automatic puncturing module (400).A kind of tumour radiotherapy seeds implanted disclosed by the invention treats spininess automatic puncturing device, to achieve the purpose that accurate radiotherapy, can be of great practical significance accurately and reliably by radioactive prospecting instrument to the designated position of patient's human body.
Description
Technical field
The present invention relates to the field of medical instrument technology, certainly more particularly to a kind of tumour radiotherapy seeds implanted treatment spininess
Dynamic sting device.
Background technique
Currently, plesioradiotherapy is the important means in treating malignant tumor, it is by implantation radiation in vivo
Nucleic, the biological effect having using the grenz ray that its decay generates, a kind of method for the treatment of of cancer, phase are carried out to patient
For External radiotherapy, it is with many advantages: first is that having very high tumour, normal tissue dose distribution ratio, to nearly source
The cancer cell at place has very big lethality, and the steep drop of normal tissue dosage distribution, so as to avoid with external exposure to normal group
The drawbacks of knitting excessive injury；Second is that reducing tumor cell proliferation since treatment time shortens；Third is that due to lower dosage
Rate when making ray to tumor cytotoxicity, is reduced the dependence of oxygen, and then part overcomes the radioactivity of tumor hypoxia cell
Fastness.Plesioradiotherapy causes the common concern of radiotherapy circle with good protection effect and dosimeter advantage.
Wherein, radioactive prospecting instrument formula tumor therapeuticing method is a kind of new technology of plesioradiotherapy.For putting
Penetrating property seeds implanted formula tumor therapeuticing method, the accurately implantation of particle is most important, is related to the dosage distribution of tumor target,
To be directly related to therapeutic effect.
But there is presently no a kind of technologies, it can be accurately and reliably by radioactive prospecting instrument to patient's human body
Designated position, to be unable to reach the purpose of accurate radiotherapy
Summary of the invention
In view of this, the object of the present invention is to provide a kind of tumour radiotherapy seeds implanted treatment spininess automatic puncturing dresses
It sets, it can be accurately and reliably by radioactive prospecting instrument to the designated position of patient's human body, to reach the mesh of accurate radiotherapy
, it is of great practical significance.
For this purpose, the present invention provides a kind of tumour radiotherapy seeds implanteds to treat spininess automatic puncturing device, including movement
Locating module, both arms lifting module, Template Location module and automatic puncturing module, in which:
The top of mobile position-fixed module is connected with the lower part of both arms lifting module；
Both arms go up and down the top of module, are equipped with Template Location module and automatic puncturing module.
Wherein, mobile position-fixed module includes ontology mounting plate；
The bottom four corners of ontology mounting plate are separately installed with a universal wheel support column；
Each universal wheel support column bottom is fixedly connected with a universal caster wheel.
Wherein, the bottom of ontology mounting plate is also arranged at intervals with four electric pushrods；
The bottom surface of each electric pushrod is equipped with an electric pushrod bump joint.
Wherein, both arms lifting module includes the lifting support of vertical distribution；
It is fixedly connected at the top of the lower part of lifting support and ontology mounting plate；
The both arms mounting plate of horizontal distribution is fixedly installed at the top of lifting support；
The left and right ends of both arms mounting plate are separately installed with automatic puncturing module and Template Location module.
Wherein, Template Location module specifically includes the second hollow shoulder joint sleeve；
The bottom of second shoulder joint sleeve is fixedly connected with both arms mounting plate top；
The inside of second shoulder joint sleeve is equipped with the second servo motor, for driving the rotation of shoulder joint；
The firm gear part of third harmonic retarder is fixedly connected with the upper surface of the second shoulder joint sleeve；
Output shaft at the top of second servo motor is connected by key with the wave producer part of third harmonic retarder；
The flexbile gear part of third harmonic retarder is fixedly connected with the bottom surface of the second electric cylinders mould group mounting plate；
The top surface of second electric cylinders mould group mounting plate is equipped with the second flatbed electric cylinder mould group of genesis analysis；
The front end of second flatbed electric cylinder mould group, passes through the second wrist joint connecting plate and locating module two degrees of freedom wrist
Joint submodule is connected.
Wherein, locating module two degrees of freedom wrist joint submodule includes third wrist joint sleeve；
The trailing flank of third wrist joint sleeve is fixedly connected with the leading flank of the second wrist joint connecting plate；
The inside of third wrist joint sleeve, is equipped with first servo motor；
The firm gear part of 4th harmonic speed reducer is fixedly connected with the bottom surface of third wrist joint sleeve；
The output shaft of first servo motor bottom is connected by key with the wave producer of the 4th harmonic speed reducer；
It is connected at the top of the flexbile gear part of 4th harmonic speed reducer and the 4th wrist joint sleeve；
Third servo motor is horizontally installed in 4th wrist joint sleeve；
The output shaft that third servo motor left end has is connected with form clamp connector；
The end face of form clamp connector is equipped with a form clamp；
The end face of form clamp connects puncture template.
Wherein, automatic puncturing module specifically includes: the first shoulder joint sleeve；
The bottom of first shoulder joint sleeve is fixedly connected with both arms mounting plate top；
The inside of first shoulder joint sleeve is equipped with the 4th servo motor；
The firm gear part of second harmonic retarder is fixedly connected with the top surface of the first shoulder joint sleeve；
Output shaft at the top of 4th servo motor is connected by key with the wave producer part of second harmonic retarder；
The flexbile gear part of second harmonic retarder is fixedly connected with the first electric cylinders mould group mounting plate bottom surface；
The top surface of first electric cylinders mould group mounting plate is equipped with the first flatbed electric cylinder mould group of genesis analysis；
The front end of first flatbed electric cylinder mould group, passes through the first wrist joint connecting plate and piercing module two degrees of freedom wrist
Joint submodule is connected.
Wherein, piercing module two degrees of freedom wrist joint submodule includes the second wrist joint sleeve；
The trailing flank of second wrist joint sleeve is fixedly connected with the leading flank of the first wrist joint connecting plate；
The inside of second wrist joint sleeve, is equipped with the 5th servo motor；
The firm gear part of first harmonic decelerator is fixedly connected with the bottom surface of the second wrist joint sleeve；
The output shaft of 5th servo motor bottom is connected by key with the wave producer of first harmonic decelerator；
It is connected at the top of the flexbile gear part of first harmonic decelerator and the first wrist joint sleeve.
Wherein, the 6th servo motor is horizontally installed in the first wrist joint sleeve；
The firm gear part of 5th harmonic speed reducer is fixedly connected with the right side of the first wrist joint sleeve；
The wave producer of output shaft and the 5th harmonic speed reducer that 6th servo motor right end has is connected by key；
The flexbile gear part of 5th harmonic speed reducer is connected with the left end of inserting needle module connecting piece；
The right end of inserting needle module connecting piece is connected with an inserting needle module.
Wherein, inserting needle module includes inserting needle module mounting plate；
Slider type folding electric cylinder and puncture needle storage box body are installed on inserting needle module mounting plate；
The sliding block of slider type folding electric cylinder is fixedly connected with push rod mounting plate；
Push rod mounting plate is fixedly connected with the side of puncture needle push rod；
Puncture needle push rod is hollow structure, and internal cavities are for accommodating puncture needle；
Storing box body backside top has convex block；
With the rectangular channel of vertical distribution in the convex block；
The puncture needle baffle of one vertical distribution is installed in rectangular channel；
The bottom of puncture needle baffle is equipped with cylindrical collision bead；
Puncture needle push rod top has recessed collision bead groove；
The corresponding matching of the shape of cylindrical collision bead, size and the shape of collision bead groove, size；
Collision bead groove is mutually engaged by clamping with cylindrical collision bead.
By the above technical solution provided by the invention as it can be seen that compared with prior art, the present invention provides a kind of tumours
Seeds implantation spininess automatic puncturing device, can be accurately and reliably by radioactive prospecting instrument to patient people
The designated position of body is of great practical significance to achieve the purpose that accurate radiotherapy.
Detailed description of the invention
Fig. 1 is the overall appearance that a kind of tumour radiotherapy seeds implanted provided by the invention treats spininess automatic puncturing device
Structural schematic diagram；
Fig. 2 is that the template that a kind of tumour radiotherapy seeds implanted provided by the invention is treated in spininess automatic puncturing device is fixed
Position module, schematic perspective view when seeing from left to right；
Fig. 3 is that a kind of tumour radiotherapy seeds implanted provided by the invention treats wearing in spininess automatic puncturing device automatically
Pierce module, schematic perspective view when seeing from left to right；
Fig. 4 is the inserting needle mould in a kind of tumour radiotherapy seeds implanted treatment spininess automatic puncturing device provided by the invention
Block, schematic perspective view when seeing from back to front；
Fig. 5 is the partial structure diagram of puncture needle the storage box in Fig. 4；
In figure: 1 is electric pushrod bump joint, and 2 be electric pushrod, and 3 be ontology mounting plate, and 4 be form clamp connector,
5 be form clamp；
6 be puncture template, and 7 be puncture needle storage box body 8 be inserting needle module mounting plate, and 9 be puncture needle push rod, and 10 is wear
Pricker baffle；
11 be push rod mounting plate, and 12 be slider type folding electric cylinder, and 13 be the first wrist joint sleeve, and 14 subtract for first harmonic
Fast device, 15 be the second wrist joint sleeve；
16 be the first wrist joint connecting plate, and 17 be the first shoulder joint sleeve, and 18 be second harmonic retarder, and 19 is flat for first
Bench-type electric cylinder mould group；
20 be the first electric cylinders mould group mounting plate；21 be the second flatbed electric cylinder mould group, and 22 install for the second electric cylinders mould group
Plate, 23 be third harmonic retarder, and 24 be the second shoulder joint sleeve, and 25 be both arms mounting plate；
26 be the second wrist joint connecting plate, and 27 be third wrist joint sleeve, and 28 be first servo motor, and 29 be the 4th harmonic wave
Retarder, 30 be the 4th wrist joint sleeve；
31 be lifting support, and 32 be universal wheel support column, and 33 be universal caster wheel；
34 be the second servo motor, and 35 be third servo motor, and 36 be the 4th servo motor, and 37 be the 5th servo motor,
38 be the 6th servo motor；
39 be the 5th harmonic speed reducer, and 40 be inserting needle module connecting piece, and 41 be puncture needle；
70 be convex block, and 101 be cylindrical collision bead, and 102 be collision bead groove.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawing with embodiment to this
Invention is described in further detail.
Referring to Fig. 1 to Fig. 5, the present invention provides a kind of tumour radiotherapy seeds implanteds to treat spininess automatic puncturing device,
Including mobile position-fixed module 100, both arms lifting module 200, Template Location module 300 and automatic puncturing module 400, in which:
The top of mobile position-fixed module 100 is connected with the lower part of both arms lifting module 200；
Both arms go up and down the top of module 200, are equipped with Template Location module 300 and automatic puncturing module 400.
In the present invention, in specific implementation, mobile position-fixed module 100 includes ontology mounting plate 3；
The bottom four corners of ontology mounting plate 3 are separately installed with a universal wheel support column 32；
Each 32 bottom of universal wheel support column is fixedly connected with (such as threaded connection) universal caster wheel 33, and (specially band is stopped
The universal caster wheel of vehicle).
Therefore, it is based on the above structure, with the help of mobile position-fixed module 100, free shifting is may be implemented in apparatus of the present invention
It is dynamic.
In specific implementation, the bottom of ontology mounting plate 3 is also arranged at intervals with four electric pushrods 2；
The bottom surface of each electric pushrod 2 is equipped with an electric pushrod bump joint 1.
Therefore, for the present invention, declined by four the synchronous of electric pushrod 2, after apparatus of the present invention may be implemented in place
Support and fixation.By the lifting of electric pushrod 2, flexibly switching device state and stationary state can be moved freely, so as to
It is placed in the different location of the bed side CT (CT scan, Computed Tomography).
In the present invention, in specific implementation, both arms go up and down the lifting support 31 that module 200 includes vertical distribution；
The lower part of lifting support 31 is fixedly connected with (such as threaded connection) with the top of ontology mounting plate 3；
The top of lifting support 31 is fixedly installed with the both arms mounting plate 25 of horizontal distribution；
The left and right ends of both arms mounting plate 25 are separately installed with automatic puncturing module 400 and Template Location module 300.
In specific implementation, lifting support 31 be preferably closed-loop direct current motor driving lifting support, such as can for
The vertical direction lifting support of Hall sensor.It is, of course, also possible to be the existing pillar with hydraulic lifting function.Therefore,
The lifting freedom degree movement of main part of the present invention may be implemented by the setting of lifting support 31 for the present invention.
It should be noted that in the present invention, in specific implementation, lifting support 31 can be the first transmission (dike rub news) public affairs
Take charge of the TL17 series lifting column of production；The LC2000 lifting column of The Thomson Corporation's production.
In the present invention, in specific implementation, Template Location module 300 specifically includes the second hollow shoulder joint sleeve 24；
The bottom of second shoulder joint sleeve 24, and is fixedly connected with (such as be threadedly coupled) at the top of both arms mounting plate 25；
The inside of second shoulder joint sleeve 24 is equipped with the second servo motor 34, for driving the rotation of shoulder joint；
The firm gear part of third harmonic retarder 23 is fixedly connected with (such as screw thread with the upper surface of the second shoulder joint sleeve 24
Connection)；
The output shaft at 34 top of the second servo motor, is connected with the wave producer part of third harmonic retarder 23 by key
It connects；
The flexbile gear part of third harmonic retarder 23 is fixedly connected with (such as spiral shell with the bottom surface of the second electric cylinders mould group mounting plate 22
Line connection)；
The top surface of second electric cylinders mould group mounting plate 22 is equipped with the second flatbed electric cylinder mould group 21 of genesis analysis, uses
In the stretching motion for realizing Template Location module；
It should be noted that, by the setting of third harmonic retarder 23, the second shoulder not only may be implemented for the present invention
Joint sleeve 24 is connect with the intermediate of the second electric cylinders mould group mounting plate 22, while also realizing that joint slows down and increases output torque
Function.
For the present invention, by including the second flatbed electric cylinder mould group 21 and the second electric cylinders mould group mounting plate 22, it is fixed to form
Position module extension arm.
The front end (the as end of slide plate) of second flatbed electric cylinder mould group 21, passes through the second wrist joint connecting plate 26
It is connected with locating module two degrees of freedom wrist joint submodule, so as to realize and locating module two degrees of freedom wrist joint submodule
The connection of block.
In specific implementation, locating module two degrees of freedom wrist joint submodule includes third wrist joint sleeve 27；
The trailing flank of third wrist joint sleeve 27 is fixedly connected with the leading flank of the second wrist joint connecting plate 26；
The inside of third wrist joint sleeve 27, is equipped with first servo motor 28；
The firm gear part of 4th harmonic speed reducer 29 be fixedly connected with the bottom surface of third wrist joint sleeve 27 (such as screw thread connect
It connects)；
The output shaft of 28 bottom of first servo motor, is connected by key with the wave producer of the 4th harmonic speed reducer 29；?
That is locating module wrist joint is driven by first servo motor 28, the first servo motor 28 is by being installed on the second electric cylinders mould
Third wrist joint sleeve 27 on group mounting plate 22 is supported and fixed
Therefore, first servo motor 28 is able to drive the rotation of the wave producer in the 4th harmonic speed reducer 29, is closed with realizing
It reduces speed and increases the function of output torque.
The flexbile gear part of 4th harmonic speed reducer 29 is connected with the top of the 4th wrist joint sleeve 30.
In specific implementation, third servo motor 35 is horizontally installed in the 4th wrist joint sleeve 30；
The output shaft that 35 left end of third servo motor has is connected with form clamp connector 4；
The end face installation (such as threaded connection) of form clamp connector 4 has a form clamp 5；
End face connection (such as clamping) puncture template 6 of form clamp 5.
Therefore, third servo motor 35 can drive puncture template 6 (i.e. puncturing operation template) to rotate synchronously.
It should be noted that in the present invention, puncture template 6 (i.e. puncturing operation template) be using CT compatible material (such as
Polycarbonate) made of long slab, be uniformly arranged arranged in column puncture needle guide hole (puncture as shown in Figure 2 of embarking on journey on plate body
Needle guide hole 60), for the puncture direction of biopsy needle guide 41, the deformation of puncture needle in puncture process is reduced, ensure that puncture
It is parallel to each other and is accurately maintained in predetermined puncture channel between needle, effectively improve operation precision and safety.
In the present invention, locating module two degrees of freedom wrist joint submodule is connected to by the second wrist joint connecting plate 26
The slide plate end of second flatbed electric cylinder mould group 21.
It should be noted that for the present invention, locating module two degrees of freedom wrist joint submodule may include two vertical
Rotational freedom, driven respectively by the second servo motor 34 and third servo motor 35, two motors pass through the second shoulder respectively
Joint sleeve 24 and the 4th wrist joint sleeve 30 are attached fixation.
Wherein, the both ends of third harmonic retarder 23 respectively with the output shaft of the second servo motor 34 and the second electric cylinders module
Mounting plate 22 is connected；
Wherein, form clamp 5 is connected to the output shaft of third servo motor 5 by form clamp connector 4.
In the present invention, in specific implementation, automatic puncturing module 400 is specifically included: the first shoulder joint sleeve 17；
The bottom of first shoulder joint sleeve 17, and is fixedly connected with (such as be threadedly coupled) at the top of both arms mounting plate 25；
The inside of first shoulder joint sleeve 17 is equipped with the 4th servo motor 36, for driving the rotation of shoulder joint；
The firm gear part of second harmonic retarder 18 be fixedly connected with the top surface of the first shoulder joint sleeve 17 (such as screw thread connect
It connects)；
The output shaft at 36 top of the 4th servo motor, is connected with the wave producer part of second harmonic retarder 18 by key
It connects；The flexbile gear part of second harmonic retarder 18 be fixedly connected with 20 bottom surface of the first electric cylinders mould group mounting plate (such as screw thread connect
It connects)；
The top surface of first electric cylinders mould group mounting plate 20 is equipped with the first flatbed electric cylinder mould group 19 of genesis analysis, uses
In the stretching motion for realizing automatic puncturing module 400；
It should be noted that, by the setting of second harmonic retarder 18, the first shoulder not only may be implemented for the present invention
Joint sleeve 17 is connect with the intermediate of the first electric cylinders mould group mounting plate 20, while also realizing that joint slows down and increases output torque
Function.
For the present invention, by including the first electric cylinders mould group mounting plate 20 and the first flatbed electric cylinder mould group 19, composition is worn
Pierce module extension arm.
The front end (the as end of slide plate) of first flatbed electric cylinder mould group 19, passes through the first wrist joint connecting plate 16
It is connected with piercing module two degrees of freedom wrist joint submodule, so as to realize and piercing module two degrees of freedom wrist joint submodule
The connection of block.
In specific implementation, piercing module two degrees of freedom wrist joint submodule includes the second wrist joint sleeve 15；
The trailing flank of second wrist joint sleeve 15 is fixedly connected with the leading flank of the first wrist joint connecting plate 16；
The inside of second wrist joint sleeve 15, is equipped with the 5th servo motor 37；
The firm gear part of first harmonic decelerator 14 be fixedly connected with the bottom surface of the second wrist joint sleeve 15 (such as screw thread connect
It connects)；
The output shaft of 5th servo motor, 37 bottom is connected by key with the wave producer of first harmonic decelerator 14；?
That is piercing module wrist joint is driven by the 5th servo motor 37, the 5th servo motor 37 is by being installed on the first electric cylinders mould
The second wrist joint sleeve 15 on group mounting plate 20 is supported and fixed
Therefore, the 5th servo motor 37 is able to drive the rotation of the wave producer in first harmonic decelerator 14, is closed with realizing
It reduces speed and increases the function of output torque.
The flexbile gear part of first harmonic decelerator 14 is connected with the top of the first wrist joint sleeve 13.
In specific implementation, the 6th servo motor 38 is horizontally installed in the first wrist joint sleeve 13；
The firm gear part of 5th harmonic speed reducer 39 is fixedly connected with (such as screw thread with the right side of the first wrist joint sleeve 13
Connection)；
The wave producer of output shaft and the 5th harmonic speed reducer 39 that 6th servo motor, 38 right end has is connected by key；
Therefore, the 6th servo motor 38 is able to drive the rotation of the wave producer in the 5th harmonic speed reducer 39, to realize that joint is slowed down simultaneously
Increase the function of output torque.
In specific implementation, the flexbile gear part of the 5th harmonic speed reducer 39 is connected with the left end of inserting needle module connecting piece 40；
The right end of inserting needle module connecting piece 40, be connected (specially inserting needle module mounting plate 8) with an inserting needle module 500
It is connected.Therefore, by inserting needle module connecting piece 40, inserting needle module and piercing module two degrees of freedom wrist joint submodule may be implemented
The connection of block.
In the present invention, piercing module two degrees of freedom wrist joint submodule is connected to by the first wrist joint connecting plate 16
The slide plate end of first flatbed electric cylinder mould group 19.
It should be noted that for the present invention, piercing module two degrees of freedom wrist joint submodule may include two vertical
Rotational freedom, driven respectively by the 5th servo motor 37 and the 6th servo motor 38, two motors pass through the second wrist respectively
Joint sleeve 25 and the first wrist joint sleeve 13 are attached fixation.
Wherein, the both ends of first harmonic decelerator 14 respectively with the output shaft of the 5th servo motor 37 and the first wrist joint set
13 top of cylinder is connected；
Wherein, the both ends of second harmonic retarder 18 respectively with the output shaft of the 4th servo motor 36 and the first electric cylinders mould group
The bottom surface of mounting plate 20 is connected.
In the present invention, in specific implementation, inserting needle module 500 includes inserting needle module mounting plate 8；
Slider type folding electric cylinder 12 and puncture needle storage box body 7 are installed on inserting needle module mounting plate 8；Specifically
Are as follows: slider type folding electric cylinder 12 and puncture needle store two parallel surfaces that box body 7 is respectively arranged in inserting needle module mounting plate 8
On；
The sliding block of slider type folding electric cylinder 12 is fixedly connected with push rod mounting plate 11；
Push rod mounting plate 11 is fixedly connected with the side of puncture needle push rod 9；
Puncture needle push rod 9 is hollow structure, and internal cavities are for accommodating puncture needle 41.
It should be noted that puncture needle push rod 9, for driving puncture needle 41, under the side of edge storage box body 7 is vertical
It is sliding, to do piercing movement, puncture needle 41 can be pierced into the appointed part of human body.
In the present invention, it should be noted that puncture needle 41 is the puncture needle of existing structure, is mainly used for seeds implanted hand
Art, needle body part are stainless steel materials, have scale on outer wall, and needle point is in inclined-plane, it is whole by coaxial hollow sleeve pipe and
Needle core composition.After puncture needle 41 is pierced into tissue, needle core is extracted, hollow sleeve pipe stays within the organization, then along outer tube lumen
It is sent into radioactive particle, to realize radiotherapy.
In specific implementation, storage 7 backside top of box body has convex block 70 (i.e. flange)；
With the rectangular channel of vertical distribution in the convex block 70；
The puncture needle baffle 10 of one vertical distribution is installed in rectangular channel；
Puncture needle baffle 10 can move up and down in rectangular channel.
In specific implementation, the bottom of puncture needle baffle 10 is equipped with cylindrical collision bead 101；
9 top of puncture needle push rod has recessed collision bead groove 102 (the specially groove of thin-wall construction)；
The corresponding matching of the shape of cylindrical collision bead 101, size and the shape of collision bead groove 102, size；
Collision bead groove is mutually engaged by clamping with cylindrical collision bead.
That is, cylindrical collision bead and collision bead groove cooperate, puncture needle push rod 9 pushes the downward inserting needle of puncture needle 41
When, puncture needle baffle 10 can be driven to move down together, puncture needle baffle 10 replaces puncture needle push rod 9, intracavitary to storage box body 7
Remaining puncture needle limited.
It should be noted that being placed with the puncture needle of more vertical distributions in storage box body 7, and pushed away towards puncture needle
The side of bar 9 is open opening (vertical height of the opening, greater than the vertical height of puncture needle).
When the tip contact of puncture needle baffle 10 is to the top surface of storage box body 7, puncture needle baffle 10 be blocked power and
Bottom and puncture needle push rod 9 are detached from, and when puncture needle push rod 9 moves up reset, puncture needle baffle 10 again with 9 weight of puncture needle push rod
It is new to combine, and move up under the action of puncture needle push rod 9 until bottom again with convex block 70 (flange) bottom on storage box body 7
Face contact is restored to original state.
In specific implementation, 9 bottom of puncture needle push rod has the groove for accommodating 41 top of puncture needle.
It should be noted that storage box body 7 is built-in with the spring of cross direction profiles, spring is acted in storage box body 7
(left end of spring contacts the inner left wall of storage box body 7, and right end contacts puncture needle, and the storage box between wall and puncture needle
The inner cavity longitudinal width of ontology 7 is corresponding with the outer diameter size of puncture needle being disposed vertically), it is in compressive state, puncture needle 41 exists
Under the action of spring thrust, the internal cavities of puncture needle push rod 9 are pressed in, to realize positioning (its top does not have clamping structure).
Based on above technical scheme it is found that for the present invention, in addition to the running fix of ontology, apparatus of the present invention have altogether
10 freedom degrees, can fully achieve tumor radiotherapy seeds implanted operation in puncturing operation template automatic positioning and more
The automatic implantation of puncture needle.
In order to which tumour radiotherapy seeds implanted treatment spininess automatic puncturing device provided by the invention is more clearly understood,
Its integrated operation process is described as follows below:
Firstly, pushing the present apparatus universal at four according to the position of patient tumors in carrying out radiotherapy particle implantation process
The rolling of castor 33 is moved to the suitable position of CT sides；
Then, the synchronous stretching of four electric pushrods 2 is controlled, and under the action of electric pushrod bump joint 1 that device is whole
Body is held up, and universal caster wheel 33 is in vacant state, the so far placement and fixation of realization device.(such as followed by external equipment
Optical orientator, electromagnetic location instrument etc.) location position is carried out to the present apparatus, to obtain the pass of the relative position between device and patient
System.
Then, in conjunction with the preoperative therapy planned outcome of doctor, relative position coordinates can be carried out by control system
Lower level controller is calculated and sends data to, controller driving present apparatus automatic running simultaneously completes next operation: (1) existing
Guiding puncture template 6 is automatic under three servo motors of Template Location module 300 and the coordinated movement of various economic factors of flatbed electric cylinder mould group
Navigate to planned target point；(2) under the movement of lifting support 31, Template Location module 300 and automatic puncturing module 400 are realized
Short transverse is adjusted to specified altitude assignment；(3) in three servo motors of automatic puncturing module 400 and flatbed electric cylinder mould group
The top that a certain guide hole of puncture template is arrived in the automatic positioning of pin module 500 is directed under the coordinated movement of various economic factors；(4) it is folded in slider type
(puncture of more root puncture needles needs to repeat (3), (4) mistake the automatic inserting needle process of realization puncture needle 41 under the action of electric cylinder 12
Journey)；
It should be noted that the control mobile technology of servo motor, is existing technology, is not unfolded to state in detail herein.
Finally, the puncture needle hollow by middle part by doctor, is treated to tumor tissues implantation radiation particle.
For the present invention, the movement of multi-angle can be realized, in view of Template Location module 300 and automatic puncturing module
400 all contain there are four freedom degree, what their movement was similar to, and wherein the revolution freedom degree of shoulder joint and flatbed are electronic
The linear motion of cylinder mould group together constitutes a cylindrical-coordinate system, in conjunction with the movement in vertical direction of lifting support 31, jointly
Realize the space orientation of end；Carpal two vertical revolution freedom degrees of remaining two degrees of freedom are for realizing angle at the end
Adjustment.
It in the present invention, is the guarantee of mechanical precision, including components first to make puncture needle be directed at puncturing operation template
Process and assemble precision and motor control precision, and need to carry out corresponding essence to the present apparatus after material object processing is completed
Degree experiment and the compensation of model；Meanwhile in view of puncture template 6 (i.e. puncturing operation template) for using CT compatible material (such as poly- carbon
Acid esters) made of long slab, be uniformly arranged on plate body and embark on journey that (puncture needle as shown in Figure 2 draws arranged in column puncture needle guide hole
Guide hole 60), it for the puncture direction of biopsy needle guide 41, play the guiding role to puncture needle, reduces puncture needle in puncture process
Deformation, ensure that and be parallel to each other and be accurately maintained in predetermined puncture channel between puncture needle, effectively improve operation precision and
Safety.
It should be noted that technology belongs to the mechanical front subject intersected with medicine radiotherapy field for the present invention,
Feature is the design of seeds implantation spininess automatic puncturing device, which can realize oneself of puncturing operation template
Dynamic positioning and the automatic accurate implantation of more root puncture needles, achieve the purpose that accurate radiotherapy.
It is a kind of tumour radiotherapy seeds implanted treatment spininess automatic puncturing device of simple possible for the present invention,
Full-automatic, accurate, reliable radioactive prospecting instrument may be implemented.In use, the device can be placed in CT sides, it can
Puncturing operation template is accurately positioned, and realizes the automatic accurate implantation of more root puncture needles.The apparatus structure is stablized, accurate efficient,
It can be used as the reference of radiotherapy particle implantation ancillary equipment.
Spininess automatic puncturing device is treated for tumour radiotherapy seeds implanted provided by the invention, in terms of material, tool
On body is realized, it is contemplated that the portability requirement of structure, most of components are using aluminium alloy, other related functionality component roots
According to actual operation requirements using the manufacture such as steel alloy.
For the present invention, in specific implementation, overall structure is realized whole by a closed-loop direct current motor, driving lifting support
Body elevating movement, meanwhile, four AC servo motors are relied on respectively, complete the space of Template Location module and automatic puncturing module
Positioning, additionally by an AC servo motor, completes the automatic puncturing of more root puncture needles, can satisfy clinical demand completely.
For the present invention, in specific implementation, for the requirement on flexibility of realization device design, bottom of device uses one group
The design of universal wheel and one group of electric pushrod may be implemented to be installed on CT (electronic computer tomography by cooperation between the two
Scanning, Computed Tomography) placement in each orientation of bed expands bigger to reach comprehensive device pendulum position
Working space.
It is the present apparatus is mobile and be placed in CT in carrying out radiotherapy particle implantation process in specific implementation for the present invention
The suitable position of bed side is simultaneously fixed.In conjunction with the preoperative therapy planned outcome of doctor, puncturing operation template is positioned automatically
Suitable pose above target area, and can realize the automatic implantation of more root puncture needles, puncture finally hollow by middle part by doctor
Needle is treated to tumor tissues implantation radiation particle.
Compared with prior art, tumour radiotherapy seeds implanted provided by the invention treats spininess automatic puncturing device,
It has the following beneficial effects:
1, novel in structural design of the invention, convenient, it is technologically simple to implement, facilitate clinical manipulation.
2, for the present invention due to using console mode configuration, device can neatly be moved to operating bed according to the knub position of patient
Two sides, expanded working range significantly, thus make treatment effect maximize.
3, the double-arm configuration that the present invention uses, Template Location module and automatic puncturing module is separately carried, significantly
Improve the Stability and dependability of structure.
4, the revolute joint of apparatus of the present invention cooperates locking system, closed-loop control, Ke Yishi using high-precision servo motor
Existing high accuracy positioning, while the design to cut off self-lock, enhance integrally-built safety.Simultaneously as it is exhausted to use multi-turn
To formula encoder, the use of external zero point and limit sensors is avoided, space hold is effectively reduced, keeps structure more tight
It gathers.
5, apparatus of the present invention can also be interior in a limited space, realizes the successively implantation of more root puncture needles, meets well
The demand of spininess seeds implanted operation.
6, simultaneously to meet lighting requirement, the part of apparatus of the present invention mostly uses aluminum alloy materials, key carrying position
Using steel alloy, to guarantee mechanical property.
In conclusion compared with prior art, a kind of tumour radiotherapy seeds implanted treatment spininess provided by the invention
Automatic puncturing device, can be accurately and reliably by radioactive prospecting instrument to the designated position of patient's human body, to reach essence
The purpose of quasi- radiotherapy, is of great practical significance.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of tumour radiotherapy seeds implanted treats spininess automatic puncturing device, which is characterized in that including mobile position-fixed module
(100), both arms lifting module (200), Template Location module (300) and automatic puncturing module (400), in which:
The top of mobile position-fixed module (100) is connected with the lower part of both arms lifting module (200)；
Both arms go up and down the top of module (200), are equipped with Template Location module (300) and automatic puncturing module (400).
2. tumour radiotherapy seeds implanted as described in claim 1 treats spininess automatic puncturing device, which is characterized in that mobile
Locating module (100) includes ontology mounting plate (3)；
The bottom four corners of ontology mounting plate (3) are separately installed with a universal wheel support column (32)；
Each universal wheel support column (32) bottom is fixedly connected with a universal caster wheel (33).
3. tumour radiotherapy seeds implanted as claimed in claim 2 treats spininess automatic puncturing device, which is characterized in that ontology
The bottom of mounting plate (3) is also arranged at intervals with four electric pushrods (2)；
The bottom surface of each electric pushrod (2) is equipped with an electric pushrod bump joint (1).
4. tumour radiotherapy seeds implanted as claimed in claim 2 treats spininess automatic puncturing device, which is characterized in that both arms
Lifting module (200) includes the lifting support (31) of vertical distribution；
It is fixedly connected at the top of the lower part of lifting support (31) and ontology mounting plate (3)；
The both arms mounting plate (25) of horizontal distribution is fixedly installed at the top of lifting support (31)；
The left and right ends of both arms mounting plate (25) are separately installed with automatic puncturing module (400) and Template Location module (300).
5. tumour radiotherapy seeds implanted as claimed in claim 2 treats spininess automatic puncturing device, which is characterized in that template
Locating module (300) specifically includes the second hollow shoulder joint sleeve (24)；
The bottom of second shoulder joint sleeve (24) is fixedly connected with both arms mounting plate (25) top；
The inside of second shoulder joint sleeve (24) is equipped with the second servo motor (34), for driving the rotation of shoulder joint；
The firm gear part of third harmonic retarder (23) is fixedly connected with the upper surface of the second shoulder joint sleeve (24)；
Output shaft at the top of second servo motor (34) is connected with the wave producer part of third harmonic retarder (23) by key
It connects；
The flexbile gear part of third harmonic retarder (23) is fixedly connected with the bottom surface of the second electric cylinders mould group mounting plate (22)；
The top surface of second electric cylinders mould group mounting plate (22) is equipped with the second flatbed electric cylinder mould group (21) of genesis analysis；
The front end of second flatbed electric cylinder mould group (21) is free by the second wrist joint connecting plate (26) and locating module two
Degree wrist joint submodule is connected.
6. tumour radiotherapy seeds implanted as claimed in claim 5 treats spininess automatic puncturing device, which is characterized in that positioning
Module two degrees of freedom wrist joint submodule includes third wrist joint sleeve (27)；
The trailing flank of third wrist joint sleeve (27) is fixedly connected with the leading flank of the second wrist joint connecting plate (26)；
The inside of third wrist joint sleeve (27) is equipped with first servo motor (28)；
The firm gear part of 4th harmonic speed reducer (29) is fixedly connected with the bottom surface of third wrist joint sleeve (27)；
The output shaft of first servo motor (28) bottom, is connected by key with the wave producer of the 4th harmonic speed reducer (29)；
It is connected at the top of the flexbile gear part of 4th harmonic speed reducer (29) and the 4th wrist joint sleeve (30)；
Third servo motor (35) are horizontally installed in 4th wrist joint sleeve (30)；
The output shaft that third servo motor (35) left end has is connected with form clamp connector (4)；
The end face of form clamp connector (4) is equipped with a form clamp (5)；
The end face of form clamp (5) connects puncture template (6).
7. tumour radiotherapy seeds implanted as claimed in claim 2 treats spininess automatic puncturing device, which is characterized in that automatic
Piercing module (400) specifically includes: the first shoulder joint sleeve (17)；
The bottom of first shoulder joint sleeve (17) is fixedly connected with both arms mounting plate (25) top；
The inside of first shoulder joint sleeve (17) is equipped with the 4th servo motor (36)；
The firm gear part of second harmonic retarder (18) is fixedly connected with the top surface of the first shoulder joint sleeve (17)；
Output shaft at the top of 4th servo motor (36) is connected with the wave producer part of second harmonic retarder (18) by key
It connects；
The flexbile gear part of second harmonic retarder (18) is fixedly connected with first electric cylinders mould group mounting plate (20) bottom surface；
The top surface of first electric cylinders mould group mounting plate (20) is equipped with the first flatbed electric cylinder mould group (19) of genesis analysis；
The front end of first flatbed electric cylinder mould group (19) is free by the first wrist joint connecting plate (16) and piercing module two
Degree wrist joint submodule is connected.
8. tumour radiotherapy seeds implanted as claimed in claim 7 treats spininess automatic puncturing device, which is characterized in that puncture
Module two degrees of freedom wrist joint submodule includes the second wrist joint sleeve (15)；
The trailing flank of second wrist joint sleeve (15) is fixedly connected with the leading flank of the first wrist joint connecting plate (16)；
The inside of second wrist joint sleeve (15), is equipped with the 5th servo motor (37)；
The firm gear part of first harmonic decelerator (14) is fixedly connected with the bottom surface of the second wrist joint sleeve (15)；
The output shaft of the 5th servo motor (37) bottom, is connected by key with the wave producer of first harmonic decelerator (14)；
It is connected at the top of the flexbile gear part of first harmonic decelerator (14) and the first wrist joint sleeve (13).
9. tumour radiotherapy seeds implanted as claimed in claim 8 treats spininess automatic puncturing device, which is characterized in that first
The 6th servo motor (38) is horizontally installed in wrist joint sleeve (13)；
The firm gear part of 5th harmonic speed reducer (39) is fixedly connected with the right side of the first wrist joint sleeve (13)；
The wave producer of output shaft and the 5th harmonic speed reducer (39) that 6th servo motor (38) right end has is connected by key；
The flexbile gear part of 5th harmonic speed reducer (39) is connected with the left end of inserting needle module connecting piece (40)；
The right end of inserting needle module connecting piece (40) is connected with an inserting needle module (500).
10. tumour radiotherapy seeds implanted as claimed in claim 9 treats spininess automatic puncturing device, which is characterized in that into
Pin module (500) includes inserting needle module mounting plate (8)；
Slider type folding electric cylinder (12) and puncture needle storage box body (7) are installed on inserting needle module mounting plate (8)；
The sliding block of slider type folding electric cylinder (12) is fixedly connected with push rod mounting plate (11)；
Push rod mounting plate (11) is fixedly connected with the side of puncture needle push rod (9)；
Puncture needle push rod (9) is hollow structure, and internal cavities are for accommodating puncture needle (41)；
Storing box body (7) backside top has convex block (70)；
With the rectangular channel of vertical distribution in the convex block (70)；
The puncture needle baffle (10) of one vertical distribution is installed in rectangular channel；
The bottom of puncture needle baffle (10) is equipped with cylindrical collision bead (101)；
Puncture needle push rod (9) top has recessed collision bead groove (102)；
Shape, the size matching corresponding with shape, the size of collision bead groove (102) of cylindrical collision bead (101)；
Collision bead groove is mutually engaged by clamping with cylindrical collision bead.
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