CN110141317B - Multi-needle automatic puncture device for tumor radioactive particle implantation treatment - Google Patents
Multi-needle automatic puncture device for tumor radioactive particle implantation treatment Download PDFInfo
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- CN110141317B CN110141317B CN201910422756.8A CN201910422756A CN110141317B CN 110141317 B CN110141317 B CN 110141317B CN 201910422756 A CN201910422756 A CN 201910422756A CN 110141317 B CN110141317 B CN 110141317B
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- 239000002245 particle Substances 0.000 title claims abstract description 40
- 206010028980 Neoplasm Diseases 0.000 title claims abstract description 34
- 238000002513 implantation Methods 0.000 title claims abstract description 34
- 230000002285 radioactive effect Effects 0.000 title claims abstract description 34
- 210000003857 wrist joint Anatomy 0.000 claims description 61
- 239000003638 chemical reducing agent Substances 0.000 claims description 58
- 210000000323 shoulder joint Anatomy 0.000 claims description 28
- 210000000707 wrist Anatomy 0.000 claims description 26
- 238000003860 storage Methods 0.000 claims description 17
- 239000011324 bead Substances 0.000 claims description 13
- 238000003780 insertion Methods 0.000 claims description 10
- 230000037431 insertion Effects 0.000 claims description 9
- 235000004443 Ricinus communis Nutrition 0.000 claims description 6
- 230000003028 elevating effect Effects 0.000 claims 1
- 230000035515 penetration Effects 0.000 claims 1
- 238000002560 therapeutic procedure Methods 0.000 claims 1
- 238000001959 radiotherapy Methods 0.000 abstract description 14
- 239000007943 implant Substances 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 12
- 238000000034 method Methods 0.000 description 11
- 238000002591 computed tomography Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000009977 dual effect Effects 0.000 description 4
- 238000002725 brachytherapy Methods 0.000 description 3
- 201000011510 cancer Diseases 0.000 description 3
- 238000009826 distribution Methods 0.000 description 3
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- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 229910000851 Alloy steel Inorganic materials 0.000 description 2
- 210000004027 cell Anatomy 0.000 description 2
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- 229920000515 polycarbonate Polymers 0.000 description 2
- 239000004417 polycarbonate Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 210000004881 tumor cell Anatomy 0.000 description 2
- 101100206915 Arabidopsis thaliana TL17 gene Proteins 0.000 description 1
- 206010021143 Hypoxia Diseases 0.000 description 1
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- 238000005096 rolling process Methods 0.000 description 1
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- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
Classifications
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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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Radiology & Medical Imaging (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
The invention discloses a tumor radioactive particle implantation treatment multi-needle automatic puncture device, which comprises a mobile positioning module (100), an arm lifting module (200), a template positioning module (300) and an automatic puncture module (400), wherein: the top of the mobile positioning module (100) is connected with the lower part of the double-arm lifting module (200); the top of the double-arm lifting module (200) is provided with a template positioning module (300) and an automatic puncturing module (400). The invention discloses a multi-needle automatic puncture device for tumor radioactive particle implantation treatment, which can accurately and reliably implant radioactive particles to the appointed position of a patient body, thereby achieving the purpose of accurate radiotherapy and having great production practice significance.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a multi-needle automatic puncture device for tumor radioactive particle implantation treatment.
Background
Currently, brachytherapy is an important means in the treatment of malignant tumors, a method for treating cancer in patients by implanting radionuclides in the body, utilizing the biological effect of soft X-rays generated by decay thereof, and has a number of advantages over in vitro radiotherapy: firstly, the composition has high tumor and normal tissue dose distribution ratio, has great killing power on cancer cells at a near source, and has steep drop on the normal tissue dose distribution, thereby avoiding the defect of excessive damage to the normal tissue caused by external irradiation; secondly, the treatment time is shortened, so that the proliferation of tumor cells is reduced; thirdly, due to the lower dosage rate, the dependence of the rays on oxygen is reduced when the rays kill tumor cells, and the radioactive resistance of the tumor hypoxic cells is further partially overcome. Brachytherapy has attracted general attention in the radiotherapy community with good shielding effects and dosimetry advantages.
The radioactive particle implantation type tumor treatment method is a new technology of brachytherapy. For radioactive particle implantation methods of tumor treatment, precise implantation of particles is critical, which is related to the dose distribution of the tumor target, and thus directly to the therapeutic effect.
However, there is no technology for accurately and reliably implanting radioactive particles at a specific position of a patient's body, so that the purpose of accurate radiotherapy cannot be achieved
Disclosure of Invention
In view of the above, the invention aims to provide a multi-needle automatic puncture device for tumor radioactive particle implantation treatment, which can accurately and reliably implant radioactive particles to a designated position of a patient body, thereby achieving the purpose of accurate radiotherapy and having great production and practical significance.
Therefore, the invention provides a tumor radioactive particle implantation treatment multi-needle automatic puncture device, which comprises a mobile positioning module, a double-arm lifting module, a template positioning module and an automatic puncture module, wherein:
the top of the mobile positioning module is connected with the lower part of the double-arm lifting module;
the top of the double-arm lifting module is provided with a template positioning module and an automatic puncture module.
The mobile positioning module comprises a body mounting plate;
the four corners of the bottom of the body mounting plate are respectively provided with a universal wheel supporting column;
the bottom of each universal wheel supporting column is fixedly connected with a universal castor.
Four electric push rods are arranged at intervals at the bottom of the body mounting plate;
the bottom surface of each electric push rod is provided with an electric push rod flange joint.
Wherein, the double-arm lifting module comprises lifting struts which are vertically distributed;
the lower part of the lifting support column is fixedly connected with the top of the body mounting plate;
the top of the lifting support column is fixedly provided with a horizontally distributed double-arm mounting plate;
the left end and the right end of the double-arm mounting plate are respectively provided with an automatic puncture module and a template positioning module.
The template positioning module specifically comprises a hollow second shoulder joint sleeve;
the bottom of the second shoulder joint sleeve is fixedly connected with the top of the double-arm mounting plate;
a second servo motor is arranged in the second shoulder joint sleeve and used for driving the shoulder joint to rotate;
the rigid wheel part of the third harmonic reducer is fixedly connected with the upper end surface of the second shoulder joint sleeve;
an output shaft at the top of the second servo motor is connected with a wave generator part of the third harmonic reducer through a key;
the flexible gear part of the third harmonic reducer is fixedly connected with the bottom surface of the second electric cylinder module mounting plate;
the top surface of the second electric cylinder module mounting plate is provided with second platform-type electric cylinder modules which are longitudinally distributed;
the front end part of the second platform type electric cylinder module is connected with the wrist joint submodule with two degrees of freedom of the positioning module through a second wrist joint connecting plate.
The second-degree-of-freedom wrist joint submodule of the positioning module comprises a third wrist joint sleeve;
the rear side surface of the third wrist joint sleeve is fixedly connected with the front side surface of the second wrist joint connecting plate;
a first servo motor is arranged in the third wrist joint sleeve;
the rigid wheel part of the fourth harmonic reducer is fixedly connected with the bottom surface of the third wrist joint sleeve;
an output shaft at the bottom of the first servo motor is connected with a wave generator of the fourth harmonic reducer through a key;
the flexible gear part of the fourth harmonic reducer is connected with the top of the fourth wrist joint sleeve;
a third servo motor is transversely arranged in the fourth wrist joint sleeve;
an output shaft arranged at the left end of the third servo motor is connected with a template clamp connecting piece;
the end face of the template clamp connecting piece is provided with a template clamp;
the end face of the template clamp is connected with the puncture template.
Wherein, automatic puncture module specifically includes: a first shoulder joint sleeve;
the bottom of the first shoulder joint sleeve is fixedly connected with the top of the double-arm mounting plate;
a fourth servo motor is arranged in the first shoulder joint sleeve;
the rigid wheel part of the second harmonic reducer is fixedly connected with the top surface of the first shoulder joint sleeve;
an output shaft at the top of the fourth servo motor is connected with a wave generator part of the second harmonic reducer through a key;
the flexible gear part of the second harmonic reducer is fixedly connected with the bottom surface of the first electric cylinder module mounting plate;
the top surface of the first electric cylinder module mounting plate is provided with first platform type electric cylinder modules which are longitudinally distributed;
the front end part of the first platform type electric cylinder module is connected with the puncture module two-degree-of-freedom wrist joint submodule through a first wrist joint connecting plate.
Wherein the puncture module two-degree-of-freedom wrist joint sub-module comprises a second wrist joint sleeve;
the rear side surface of the second wrist joint sleeve is fixedly connected with the front side surface of the first wrist joint connecting plate;
a fifth servo motor is arranged in the second wrist joint sleeve;
the rigid wheel part of the first harmonic reducer is fixedly connected with the bottom surface of the second wrist joint sleeve;
an output shaft at the bottom of the fifth servo motor is connected with a wave generator of the first harmonic reducer through a key;
the flexspline portion of the first harmonic reducer is connected to the top of the first wrist sleeve.
A sixth servo motor is transversely arranged in the first wrist joint sleeve;
the rigid wheel part of the fifth harmonic reducer is fixedly connected with the right side surface of the first wrist joint sleeve;
an output shaft arranged at the right end of the sixth servo motor is connected with a wave generator of the fifth harmonic reducer through a key;
the flexible gear part of the fifth harmonic reducer is connected with the left end of the needle inlet module connecting piece;
the right end of the needle inlet module connecting piece is connected with a needle inlet module.
The needle inserting module comprises a needle inserting module mounting plate;
a sliding block type folding electric cylinder and a puncture needle storage box body are arranged on the needle inlet module mounting plate;
the sliding block of the sliding block type folding electric cylinder is fixedly connected with the push rod mounting plate;
the push rod mounting plate is fixedly connected with one side of the push rod of the puncture needle;
the puncture needle push rod is of a hollow structure, and an inner cavity of the puncture needle push rod is used for accommodating the puncture needle;
the top of the rear side of the storage box body is provided with a bump;
the convex block is provided with rectangular grooves which are vertically distributed;
a puncture needle baffle plate which is vertically distributed is arranged in the rectangular groove;
the bottom of the puncture needle baffle is provided with a cylindrical collision bead;
the top end of the puncture needle push rod is provided with a concave collision bead groove;
the shape and the size of the cylindrical collision bead are correspondingly matched with those of the collision bead groove;
the ball-striking groove is clamped and matched with the cylindrical ball-striking.
Compared with the prior art, the technical scheme provided by the invention provides the multi-needle automatic puncture device for the tumor radioactive particle implantation treatment, which can accurately and reliably implant the radioactive particles to the appointed position of the human body of a patient, thereby achieving the purpose of accurate radiotherapy and having great production and practical significance.
Drawings
FIG. 1 is a schematic view of the overall appearance of a multi-needle automatic puncture device for tumor radioactive particle implantation treatment according to the present invention;
fig. 2 is a schematic perspective view of a template positioning module in a multi-needle automatic puncture device for tumor radioactive particle implantation treatment according to the present invention when seen from left to right;
fig. 3 is a schematic perspective view of an automatic puncture module in a multi-needle automatic puncture device for tumor radioactive particle implantation treatment according to the present invention when viewed from left to right;
fig. 4 is a schematic perspective view of a needle insertion module in a multi-needle automatic puncture device for tumor radioactive particle implantation treatment according to the present invention, when viewed from the back to the front;
FIG. 5 is a schematic view of a portion of the lancet magazine of FIG. 4;
in the figure: the flange connector of the electric push rod is 1, the electric push rod is 2, the body mounting plate is 3, the template clamp connecting piece is 4, and the template clamp is 5;
6 is a puncture template, 7 is a puncture needle storage box body 8 is a needle inlet module mounting plate, 9 is a puncture needle push rod, and 10 is a puncture needle baffle;
11 is a push rod mounting plate, 12 is a sliding block type folding electric cylinder, 13 is a first wrist joint sleeve, 14 is a first harmonic reducer, and 15 is a second wrist joint sleeve;
16 is a first wrist joint connecting plate, 17 is a first shoulder joint sleeve, 18 is a second harmonic reducer, and 19 is a first platform type electric cylinder module;
20 is a first electric cylinder module mounting plate; 21 is a second platform type electric cylinder module, 22 is a second electric cylinder module mounting plate, 23 is a third harmonic reducer, 24 is a second shoulder joint sleeve, and 25 is a double-arm mounting plate;
26 is a second wrist joint connecting plate, 27 is a third wrist joint sleeve, 28 is a first servo motor, 29 is a fourth harmonic reducer, and 30 is a fourth wrist joint sleeve;
31 is a lifting support column, 32 is a universal wheel support column, and 33 is a universal castor;
34 is a second servo motor, 35 is a third servo motor, 36 is a fourth servo motor, 37 is a fifth servo motor, 38 is a sixth servo motor;
39 is a fifth harmonic reducer, 40 is a needle insertion module connecting piece, and 41 is a puncture needle;
70 is a bump, 101 is a cylindrical bump, and 102 is a bump groove.
Detailed Description
In order to better understand the aspects of the present invention, the present invention will be described in further detail with reference to the drawings and embodiments.
Referring to fig. 1 to 5, the present invention provides a multi-needle automatic puncturing device for tumor radioactive particle implantation treatment, comprising a mobile positioning module 100, a double-arm lifting module 200, a template positioning module 300 and an automatic puncturing module 400, wherein:
the top of the mobile positioning module 100 is connected with the lower part of the double-arm lifting module 200;
the top of the dual arm lift module 200 is mounted with a template positioning module 300 and an automatic lancing module 400.
In the present invention, in a specific implementation, the mobile positioning module 100 includes a body mounting plate 3;
the four corners of the bottom of the body mounting plate 3 are respectively provided with a universal wheel supporting column 32;
a castor 33 (specifically a castor with brakes) is fixedly attached (e.g., threaded) to the bottom of each castor support post 32.
Thus, based on the above structure, the device of the present invention can be freely moved with the help of the mobile positioning module 100.
In the concrete implementation, the bottom of the body mounting plate 3 is also provided with four electric push rods 2 at intervals;
the bottom surface of each electric push rod 2 is provided with an electric push rod flange joint 1.
Therefore, for the invention, the device can be supported and fixed in place by the synchronous descending of the four electric push rods 2. The free moving state and the fixed state of the device can be flexibly switched by lifting and lowering the electric push rod 2 so as to be placed at different positions of the CT (computed tomography ) bedside.
In the present invention, in a specific implementation, the dual arm lift module 200 includes vertically distributed lift struts 31;
the lower part of the lifting support column 31 is fixedly connected (for example, in threaded connection) with the top of the body mounting plate 3;
the top of the lifting support column 31 is fixedly provided with a horizontally distributed double-arm mounting plate 25;
the automatic puncture module 400 and the template positioning module 300 are respectively mounted at the left and right ends of the double-arm mounting plate 25.
In particular, the lifting column 31 is preferably a closed-loop dc motor driven lifting column, for example a vertical lifting column with hall sensors. Of course, the present support column with hydraulic lifting function may be used. Thus, with the present invention, by providing the lifting support 31, the lifting degree of freedom movement of the main body portion of the present invention can be achieved.
In the present invention, the lifting column 31 may be a TL17 series lifting column manufactured by a first transmission (dyke) company; LC2000 lifting column manufactured by thomson corporation.
In a specific implementation of the present invention, the template positioning module 300 specifically includes a hollow second shoulder sleeve 24;
the bottom of the second shoulder sleeve 24 is fixedly connected (e.g., threaded) with the top of the dual arm mounting plate 25;
a second servo motor 34 is installed inside the second shoulder joint sleeve 24 and is used for driving the rotation of the shoulder joint;
the rigid wheel part of the third harmonic reducer 23 is fixedly connected (for example, in threaded connection) with the upper end surface of the second shoulder joint sleeve 24;
an output shaft at the top of the second servo motor 34 is connected with a wave generator part of the third harmonic reducer 23 through a key;
the flexspline portion of the third harmonic reducer 23 is fixedly connected (e.g., screwed) with the bottom surface of the second cylinder module mounting plate 22;
the top surface of the second electric cylinder module mounting plate 22 is provided with a second platform type electric cylinder module 21 which is longitudinally distributed and is used for realizing the telescopic movement of the template positioning module;
in the present invention, the third harmonic reducer 23 is provided, so that not only the intermediate connection between the second shoulder joint sleeve 24 and the second cylinder module mounting plate 22 but also the joint deceleration and torque increase function can be achieved.
For the present invention, the positioning module extension arm is composed of a second platform-type electric cylinder module 21 and a second electric cylinder module mounting plate 22.
The front end of the second platform-type electric cylinder module 21 (i.e., the end of the slide plate) is connected with the wrist sub-module of the positioning module with two degrees of freedom through the second wrist connecting plate 26, so that the connection with the wrist sub-module of the positioning module with two degrees of freedom can be realized.
In particular implementation, the positioning module two-degree-of-freedom wrist joint submodule comprises a third wrist joint sleeve 27;
the rear side of the third wrist sleeve 27 is fixedly connected with the front side of the second wrist connecting plate 26;
a first servo motor 28 is mounted inside the third wrist sleeve 27;
the rigid wheel part of the fourth harmonic reducer 29 is fixedly connected (e.g. screwed) with the bottom surface of the third wrist joint sleeve 27;
an output shaft at the bottom of the first servo motor 28 is connected with a wave generator of the fourth harmonic reducer 29 through a key; that is, the positioning module wrist is driven by a first servomotor 28, which first servomotor 28 is supported and fixed by a third wrist sleeve 27 mounted on the second cylinder module mounting plate 22.
Therefore, the first servo motor 28 can drive the wave generator in the fourth harmonic reducer 29 to rotate, so as to realize the functions of reducing the joint speed and increasing the output torque.
The flexspline portion of the fourth harmonic reducer 29 is connected to the top of the fourth wrist sleeve 30.
In particular implementation, a third servo motor 35 is transversely arranged in the fourth wrist joint sleeve 30;
an output shaft arranged at the left end of the third servo motor 35 is connected with the template clamp connecting piece 4;
the end face of the template clamp connecting piece 4 is provided with a template clamp 5 (for example, in threaded connection);
the end face of the template holder 5 is connected (e.g., snapped) to the piercing template 6.
Thus, the third servomotor 35 can drive the puncture template 6 (i.e., the puncture surgical template) to rotate synchronously.
In the present invention, the puncture template 6 (i.e. the puncture operation template) is a long plate made of CT compatible material (such as polycarbonate), and the plate body is uniformly provided with puncture needle guide holes (such as puncture needle guide holes 60 shown in fig. 2) arranged in rows and columns, so as to guide the puncture direction of the puncture needles 41, reduce the deformation of the puncture needles in the puncture process, ensure that the puncture needles are mutually parallel and accurately kept in a predetermined puncture channel, and effectively improve the operation precision and safety.
In the present invention, the positioning module two-degree-of-freedom wrist sub-module is connected to the slide plate end of the second platform-type electric cylinder module 21 through the second wrist connection plate 26.
It should be noted that, for the present invention, the wrist sub-module with two degrees of freedom of the positioning module may include two vertical degrees of rotational freedom, which are driven by the second servo motor 34 and the third servo motor 35, respectively, and the two motors are connected and fixed through the second shoulder joint sleeve 24 and the fourth wrist joint sleeve 30, respectively.
Wherein, two ends of the third harmonic reducer 23 are respectively connected with the output shaft of the second servo motor 34 and the second electric cylinder module mounting plate 22;
wherein the template chuck 5 is connected to the output shaft of the third servo motor 5 by a template chuck connector 4.
In a specific implementation of the present invention, the automatic lancing module 400 specifically includes: a first shoulder sleeve 17;
the bottom of the first shoulder sleeve 17 is fixedly connected (e.g., threaded) to the top of the dual arm mounting plate 25;
a fourth servo motor 36 is arranged in the first shoulder joint sleeve 17 and is used for driving the rotation of the shoulder joint;
the rigid wheel part of the second harmonic reducer 18 is fixedly connected (e.g. screwed) with the top surface of the first shoulder sleeve 17;
an output shaft at the top of the fourth servo motor 36 is connected with a wave generator part of the second harmonic reducer 18 through a key; the flexspline portion of the second harmonic reducer 18 is fixedly connected (e.g., threaded) to the bottom surface of the first cylinder module mounting plate 20;
the top surface of the first electric cylinder module mounting plate 20 is provided with first platform-type electric cylinder modules 19 which are longitudinally distributed and are used for realizing the telescopic movement of the automatic puncture module 400;
in the present invention, the second harmonic reducer 18 is provided, so that not only the intermediate connection between the first shoulder joint sleeve 17 and the first cylinder module mounting plate 20 but also the joint deceleration and torque increase function can be achieved.
For the present invention, the puncture module extension arm is comprised of a first electric cylinder module mounting plate 20 and a first platform-type electric cylinder module 19.
The front end of the first platform-type electric cylinder module 19 (i.e., the end of the slide plate) is connected with the puncture module two-degree-of-freedom wrist sub-module through the first wrist joint connecting plate 16, so that the connection with the puncture module two-degree-of-freedom wrist sub-module can be realized.
In particular implementation, the puncture module two-degree-of-freedom wrist joint sub-module comprises a second wrist joint sleeve 15;
the rear side surface of the second wrist joint sleeve 15 is fixedly connected with the front side surface of the first wrist joint connecting plate 16;
a fifth servo motor 37 is mounted inside the second wrist sleeve 15;
the rigid wheel part of the first harmonic reducer 14 is fixedly connected (e.g. in threaded connection) with the bottom surface of the second wrist joint sleeve 15;
an output shaft at the bottom of the fifth servo motor 37 is connected with a wave generator of the first harmonic reducer 14 through a key; that is, the lancing module wrist is driven by the fifth servomotor 37, and the fifth servomotor 37 is supported and fixed by the second wrist sleeve 15 mounted on the first cylinder module mounting plate 20.
Therefore, the fifth servomotor 37 can rotate the wave generator in the first harmonic reducer 14 to achieve the function of joint deceleration and increase the output torque.
The flexspline portion of the first harmonic reducer 14 is connected to the top of the first wrist sleeve 13.
In particular implementation, a sixth servo motor 38 is transversely arranged in the first wrist joint sleeve 13;
the rigid wheel part of the fifth harmonic reducer 39 is fixedly connected (e.g. screwed) with the right side surface of the first wrist joint sleeve 13;
an output shaft arranged at the right end of the sixth servo motor 38 is connected with a wave generator of a fifth harmonic reducer 39 through a key; therefore, the sixth servomotor 38 can rotate the wave generator in the fifth harmonic reducer 39 to achieve the function of joint deceleration and increase the output torque.
In particular, the flexible gear part of the fifth harmonic reducer 39 is connected with the left end of the needle insertion module connecting piece 40;
the right end of the needle module connector 40 is connected to a needle module 500 (specifically, the needle module mounting plate 8). Thus, through the needle module connector 40, a connection of the needle module to the wrist sub-module of the puncture module in two degrees of freedom can be achieved.
In the present invention, the puncture module two-degree-of-freedom wrist sub-module is connected to the slide plate end of the first platform-type electric cylinder module 19 through the first wrist connection plate 16.
In the present invention, the wrist sub-module with two degrees of freedom of the puncture module may include two vertical degrees of rotational freedom, which are driven by the fifth servo motor 37 and the sixth servo motor 38, respectively, and the two motors are connected and fixed through the second wrist sleeve 25 and the first wrist sleeve 13, respectively.
Wherein, two ends of the first harmonic reducer 14 are respectively connected with the output shaft of the fifth servo motor 37 and the top of the first wrist joint sleeve 13;
wherein, both ends of the second harmonic reducer 18 are respectively connected with the output shaft of the fourth servo motor 36 and the bottom surface of the first electric cylinder module mounting plate 20.
In the present invention, in particular implementation, the needle insertion module 500 includes a needle insertion module mounting plate 8;
a sliding block type folding electric cylinder 12 and a puncture needle storage box body 7 are arranged on the needle inlet module mounting plate 8; the method comprises the following steps: the sliding block type folding electric cylinder 12 and the puncture needle storage box body 7 are respectively arranged on two parallel surfaces of the needle inlet module mounting plate 8;
the sliding block of the sliding block type folding electric cylinder 12 is fixedly connected with the push rod mounting plate 11;
the push rod mounting plate 11 is fixedly connected with one side of the puncture needle push rod 9;
the needle plunger 9 is hollow and has an internal cavity for receiving the needle 41.
The puncture needle push rod 9 is used for driving the puncture needle 41 to vertically slide along the side surface of the storage box body 7, so that the puncture needle 41 can be punctured into a designated part of a human body by performing a puncturing motion.
In the present invention, the puncture needle 41 is a puncture needle of a conventional structure, and is mainly used for particle implantation surgery, the needle body is made of stainless steel, graduations are attached to the outer wall, the needle tip is inclined, and the whole body is composed of a coaxial hollow outer sleeve and a needle core. After the puncture needle 41 is inserted into human tissue, the needle core is pulled out, the hollow outer sleeve is left in the tissue, and radioactive particles are sent along the outer sleeve lumen, so that radiation therapy is realized.
In particular, the top of the rear side of the storage box body 7 is provided with a bump 70 (i.e. a flange);
the bump 70 has rectangular grooves vertically distributed therein;
a puncture needle baffle 10 which is vertically distributed is arranged in the rectangular groove;
the needle shield 10 is movable up and down in a rectangular slot.
In particular implementation, a cylindrical collision bead 101 is arranged at the bottom of the puncture needle baffle 10;
the top end of the puncture needle push rod 9 is provided with a concave collision bead groove 102 (a groove with a thin-wall structure in particular);
the shape and the size of the cylindrical collision bead 101 are correspondingly matched with those of the collision bead groove 102;
the ball-striking groove is clamped and matched with the cylindrical ball-striking.
That is, when the cylindrical collision bead is matched with the collision bead groove and the puncture needle push rod 9 pushes the puncture needle 41 to downwards enter the needle, the puncture needle baffle 10 can be driven to downwards move together, and the puncture needle baffle 10 replaces the puncture needle push rod 9 to limit the rest puncture needles in the cavity of the storage box body 7.
A plurality of vertically arranged puncture needles are placed in the storage box body 7, and an opening (the vertical height of the opening is larger than the vertical height of the puncture needle) is formed on the side facing the puncture needle plunger 9.
When the top end of the puncture needle shield 10 contacts the top surface of the storage box body 7, the puncture needle shield 10 is blocked and the bottom is separated from the puncture needle push rod 9, and when the puncture needle push rod 9 moves upwards to reset, the puncture needle shield 10 is recombined with the puncture needle push rod 9 and moves upwards under the action of the puncture needle push rod 9 until the bottom is contacted with the bottom surface of the bump 70 (flange) on the storage box body 7 again, and the initial state is restored.
In particular, the bottom of the needle push rod 9 has a recess for receiving the top of the needle 41.
It should be noted that, the storage box body 7 is internally provided with springs which are distributed transversely, the springs act between the inner wall of the storage box body 7 and the puncture needle (the left side of the springs are contacted with the left side inner wall of the storage box body 7, the right side of the springs are contacted with the puncture needle, and the longitudinal width of the inner cavity of the storage box body 7 corresponds to the outer diameter of the puncture needle which is placed vertically), and the puncture needle 41 is pressed in the inner cavity of the puncture needle push rod 9 under the action of the pushing force of the springs in a compressed state so as to realize positioning (the top of the puncture needle has no clamping structure).
Based on the technical scheme, the device has 10 degrees of freedom except the mobile positioning of the body, and can completely realize the automatic positioning of the puncture operation template and the automatic implantation of a plurality of puncture needles in the tumor radiotherapy particle implantation operation.
In order to more clearly understand the multi-needle automatic puncture device for tumor radioactive particle implantation treatment provided by the invention, the following description is given of the whole operation flow:
firstly, in the process of implanting radiotherapy particles, the device is pushed to move to a proper position at the CT bed side under the rolling of four universal casters 33 according to the tumor position of a patient;
then, the four electric push rods 2 are controlled to synchronously extend, the whole device is supported under the action of the electric push rod flange joint 1, and the universal casters 33 are in a suspended state, so that the device is placed and fixed. And then, the device is subjected to position calibration through external equipment (such as an optical positioner, an electromagnetic positioner and the like) so as to obtain the relative position relationship between the device and a patient.
Then, in combination with the preoperative treatment planning result of the doctor, the control system can calculate the relative position coordinates and transmit the data to the lower controller, and the controller drives the device to automatically operate and complete the following operations: (1) Guiding the puncture template 6 to automatically position to a planning target point under the coordinated movement of three servo motors and a platform type electric cylinder module of the template positioning module 300; (2) Under the movement of the lifting support 31, the template positioning module 300 and the automatic puncturing module 400 realize the height direction adjustment to the designated height; (3) The needle insertion module 500 is guided to be automatically positioned above a certain guide hole of the puncture template under the coordinated movement of the three servo motors and the platform type electric cylinder module of the automatic puncture module 400; (4) The automatic needle insertion process of the puncture needles 41 is realized under the action of the sliding block type folding electric cylinder 12 (the puncture of a plurality of puncture needles needs to be repeated in the processes (3) and (4);
the technique of controlling and moving the servo motor is a conventional technique, and a detailed description thereof will not be given here.
Finally, the doctor implants radioactive particles into tumor tissues through the puncture needle with the hollow middle part for treatment.
For the invention, the movement of multiple angles can be realized, in view of the fact that the template positioning module 300 and the automatic puncture module 400 both have four degrees of freedom, the movements are similar, wherein the rotation degree of freedom of the shoulder joint and the linear movement of the platform type electric cylinder module jointly form a cylindrical coordinate system, and the vertical movement of the lifting support 31 is combined to jointly realize the space positioning of the tail end; the remaining two degrees of freedom wrist joint's two perpendicular rotational degrees of freedom are used to achieve adjustment of the tip angle.
In the invention, in order to ensure that the puncture needle aims at the puncture operation template, firstly, the mechanical precision is ensured, the precision of the processing and assembling of parts and the motor control precision are included, and the corresponding precision experiment and the model compensation are required to be carried out on the device after the processing and assembling of a real object are completed; meanwhile, in view of the fact that the puncture template 6 (i.e., the puncture operation template) is a long plate made of CT compatible materials (such as polycarbonate), puncture needle guide holes (such as puncture needle guide holes 60 shown in fig. 2) which are arranged in rows and columns are uniformly formed in the plate body and are used for guiding the puncture direction of the puncture needles 41, the puncture needles are guided, deformation of the puncture needles in the puncture process is reduced, the puncture needles are ensured to be mutually parallel and accurately kept in a preset puncture channel, and the operation precision and safety are effectively improved.
It is to be noted that, for the invention, the technology belongs to the leading edge discipline of the intersection of the mechanical and medical radiotherapy field, and is characterized in that the design of the automatic puncture device for the radioactive particle implantation treatment multiple needles can realize the automatic positioning of the puncture operation template and the automatic accurate implantation of the multiple puncture needles, thereby achieving the purpose of accurate radiotherapy.
The invention is a simple and feasible multi-needle automatic puncture device for tumor radioactive particle implantation treatment, and can realize full-automatic, accurate and reliable radioactive particle implantation. When the device is applied, the device can be placed at the CT bed side, the puncture operation template can be accurately positioned, and automatic and accurate implantation of a plurality of puncture needles can be realized. The device has stable structure, is accurate and efficient, and can be used as a reference of auxiliary equipment for implanting radiotherapy particles.
In terms of materials and concrete realization, the tumor radioactive particle implantation treatment multi-needle automatic puncture device provided by the invention is characterized in that most parts are made of aluminum alloy in consideration of the portability requirement of the structure, and other relevant functional parts are made of alloy steel and the like according to the actual use requirement.
For the concrete implementation of the invention, the whole structure drives the lifting support column to realize the whole lifting movement through a closed-loop direct current motor, meanwhile, the space positioning of the template positioning module and the automatic puncture module is finished by means of four alternating current servo motors respectively, and in addition, the automatic puncture of a plurality of puncture needles is finished by means of one alternating current servo motor, so that the clinical requirements can be completely met.
For the specific implementation of the invention, in order to meet the flexibility requirement of device design, the design of a group of universal wheels and a group of electric push rods is adopted at the bottom of the device, and the arrangement of the device in all directions of a CT (computed tomography ) bed can be realized through the cooperation between the two, so that the omnibearing device arrangement is realized, and a larger working space is expanded.
For the specific implementation of the invention, the device is moved and arranged at a proper position at the CT bed side and fixed in the process of implanting the radiotherapy particles. In combination with the preoperative treatment planning result of the doctor, the puncture operation template is automatically positioned to a proper pose above the target area, the automatic implantation of a plurality of puncture needles can be realized, and finally the doctor implants radioactive particles into tumor tissues for treatment through the puncture needles with hollow middle parts.
Compared with the prior art, the tumor radioactive particle implantation treatment multi-needle automatic puncture device provided by the invention has the following beneficial effects:
1. the invention has novel and convenient structural design, is easy to realize in technology and is convenient for clinical operation.
2. The invention adopts the floor type configuration, so that the device can flexibly move to the two sides of the operating bed according to the tumor position of a patient, thereby greatly expanding the working range and maximizing the treatment effect.
3. The double-arm type structure adopted by the invention can separate the template positioning module from the automatic puncture module for bearing, thereby greatly improving the stability and reliability of the structure.
4. The rotary joint of the device adopts the high-precision servo motor to be matched with the band-type brake system for closed-loop control, so that high-precision positioning can be realized, and meanwhile, the design of power failure self-locking is adopted, so that the safety of the whole structure is enhanced. Meanwhile, due to the adoption of the multi-turn absolute encoder, the use of an external zero point and a limit sensor is avoided, the space occupation is effectively reduced, and the structure is more compact.
5. The device can realize the sequential implantation of a plurality of puncture needles in a limited space, and well meets the requirement of multi-needle particle implantation operation.
6. Meanwhile, in order to meet the requirement of portability, the parts of the device are mostly made of aluminum alloy materials, and the key bearing parts are made of alloy steel so as to ensure the mechanical properties.
In summary, compared with the prior art, the multi-needle automatic puncture device for tumor radioactive particle implantation treatment provided by the invention can accurately and reliably implant radioactive particles to the appointed position of the human body of a patient, thereby achieving the purpose of accurate radiotherapy and having great production practice significance.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (4)
1. The utility model provides a tumor radioactive particle implantation treatment multi-needle automatic puncture device which is characterized in that, including removal positioning module (100), both arms elevating module (200), template positioning module (300) and automatic puncture module (400), wherein:
the top of the mobile positioning module (100) is connected with the lower part of the double-arm lifting module (200);
the top of the double-arm lifting module (200) is provided with a template positioning module (300) and an automatic puncturing module (400);
the mobile positioning module (100) comprises a body mounting plate (3);
the four corners of the bottom of the body mounting plate (3) are respectively provided with a universal wheel supporting column (32);
the bottom of each universal wheel supporting column (32) is fixedly connected with a universal castor (33);
the double-arm lifting module (200) comprises lifting struts (31) which are vertically distributed;
the lower part of the lifting support column (31) is fixedly connected with the top of the body mounting plate (3);
the top of the lifting support column (31) is fixedly provided with a horizontally distributed double-arm mounting plate (25);
the left end and the right end of the double-arm mounting plate (25) are respectively provided with an automatic puncture module (400) and a template positioning module (300);
a template positioning module (300) specifically comprising a hollow second shoulder sleeve (24);
the bottom of the second shoulder joint sleeve (24) is fixedly connected with the top of the double-arm mounting plate (25);
a second servo motor (34) is arranged in the second shoulder joint sleeve (24) and is used for driving the rotation of the shoulder joint;
the rigid wheel part of the third harmonic reducer (23) is fixedly connected with the upper end surface of the second shoulder joint sleeve (24);
an output shaft at the top of the second servo motor (34) is connected with a wave generator part of the third harmonic reducer (23) through a key;
the flexible gear part of the third harmonic reducer (23) is fixedly connected with the bottom surface of the second electric cylinder module mounting plate (22);
the top surface of the second electric cylinder module mounting plate (22) is provided with second platform type electric cylinder modules (21) which are longitudinally distributed;
the front end part of the second platform type electric cylinder module (21) is connected with a two-degree-of-freedom wrist joint sub-module of the positioning module through a second wrist joint connecting plate (26);
the positioning module two-degree-of-freedom wrist joint submodule comprises a third wrist joint sleeve (27);
the rear side surface of the third wrist joint sleeve (27) is fixedly connected with the front side surface of the second wrist joint connecting plate (26);
a first servo motor (28) is arranged in the third wrist joint sleeve (27);
the rigid wheel part of the fourth harmonic reducer (29) is fixedly connected with the bottom surface of the third wrist joint sleeve (27);
an output shaft at the bottom of the first servo motor (28) is connected with a wave generator of a fourth harmonic reducer (29) through a key;
the flexible gear part of the fourth harmonic reducer (29) is connected with the top of the fourth wrist joint sleeve (30);
a third servo motor (35) is transversely arranged in the fourth wrist joint sleeve (30);
an output shaft arranged at the left end of the third servo motor (35) is connected with the template clamp connecting piece (4);
the end face of the template clamp connecting piece (4) is provided with a template clamp (5);
the end face of the template clamp (5) is connected with a puncture template (6);
the automatic puncturing module (400) specifically comprises: a first shoulder joint sleeve (17);
the bottom of the first shoulder joint sleeve (17) is fixedly connected with the top of the double-arm mounting plate (25);
a fourth servo motor (36) is arranged in the first shoulder joint sleeve (17);
the rigid wheel part of the second harmonic reducer (18) is fixedly connected with the top surface of the first shoulder joint sleeve (17);
an output shaft at the top of the fourth servo motor (36) is connected with a wave generator part of the second harmonic reducer (18) through a key;
the flexible gear part of the second harmonic reducer (18) is fixedly connected with the bottom surface of the first electric cylinder module mounting plate (20);
the top surface of the first electric cylinder module mounting plate (20) is provided with first platform type electric cylinder modules (19) which are longitudinally distributed;
the front end part of the first platform type electric cylinder module (19) is connected with the puncture module two-degree-of-freedom wrist joint submodule through a first wrist joint connecting plate (16);
the puncture module two-degree-of-freedom wrist joint sub-module comprises a second wrist joint sleeve (15);
the rear side surface of the second wrist joint sleeve (15) is fixedly connected with the front side surface of the first wrist joint connecting plate (16);
a fifth servo motor (37) is arranged in the second wrist joint sleeve (15);
the rigid wheel part of the first harmonic reducer (14) is fixedly connected with the bottom surface of the second wrist joint sleeve (15);
an output shaft at the bottom of the fifth servo motor (37) is connected with a wave generator of the first harmonic reducer (14) through a key;
the flexible gear part of the first harmonic reducer (14) is connected with the top of the first wrist joint sleeve (13).
2. The automatic puncture device for a plurality of needles for tumor radioactive particle implantation treatment according to claim 1, wherein the bottom of the body mounting plate (3) is also provided with four electric push rods (2) at intervals;
the bottom surface of each electric push rod (2) is provided with an electric push rod flange joint (1).
3. The automatic multi-needle puncture device for tumor radioactive particle implantation treatment according to claim 1, characterized in that a sixth servo motor (38) is transversely arranged in the first wrist sleeve (13);
the rigid wheel part of the fifth harmonic reducer (39) is fixedly connected with the right side surface of the first wrist joint sleeve (13);
an output shaft arranged at the right end of the sixth servo motor (38) is connected with a wave generator of a fifth harmonic reducer (39) through a key;
the flexible wheel part of the fifth harmonic reducer (39) is connected with the left end of the needle inlet module connecting piece (40);
the right end of the needle insertion module connecting piece (40) is connected with a needle insertion module (500).
4. A tumor-radioactive-particle-implantation-therapy multi-needle automatic penetration device as in claim 3, wherein the needle-insertion module (500) comprises a needle-insertion-module mounting plate (8);
a sliding block type folding electric cylinder (12) and a puncture needle storage box body (7) are arranged on the needle inlet module mounting plate (8);
the sliding block of the sliding block type folding electric cylinder (12) is fixedly connected with the push rod mounting plate (11);
the push rod mounting plate (11) is fixedly connected with one side of the puncture needle push rod (9);
the puncture needle push rod (9) is of a hollow structure, and the inner cavity is used for accommodating the puncture needle (41);
the top of the rear side of the storage box body (7) is provided with a convex block (70);
the protruding block (70) is provided with rectangular grooves which are vertically distributed;
a puncture needle baffle (10) which is vertically distributed is arranged in the rectangular groove;
the bottom of the puncture needle baffle (10) is provided with a cylindrical collision bead (101);
the top end of the puncture needle push rod (9) is provided with a concave ball-collision groove (102);
the shape and the size of the cylindrical collision bead (101) are correspondingly matched with those of the collision bead groove (102);
the ball-striking groove is clamped and matched with the cylindrical ball-striking.
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| CN219700059U (en) * | 2022-06-10 | 2023-09-19 | 湖州大士医疗科技有限公司 | Clamping rod type multichannel clamping mechanism |
| NL2032802B1 (en) * | 2022-08-18 | 2024-02-27 | Univ Twente | MRI compatible robotic device for ablation treatment |
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