CN111317550A - Interventional detection system, medical equipment and interventional detection method - Google Patents
Interventional detection system, medical equipment and interventional detection method Download PDFInfo
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- CN111317550A CN111317550A CN202010209222.XA CN202010209222A CN111317550A CN 111317550 A CN111317550 A CN 111317550A CN 202010209222 A CN202010209222 A CN 202010209222A CN 111317550 A CN111317550 A CN 111317550A
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- gamma
- ray detector
- interventional
- puncture
- patient
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
- A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computerised tomographs
- A61B6/032—Transmission computed tomography [CT]
- A61B6/035—Mechanical aspects of CT
Abstract
The invention provides a detection intervention system, medical equipment and a detection intervention method. The detection intervention system comprises: the gamma ray detector is used for detecting the molecular image information of the focus area of the patient; the puncture mechanism is used for carrying out interventional puncture operation on a focus area; and the tail end of the position and posture adjusting mechanism is provided with the gamma-ray detector and the puncture mechanism and can drive the gamma-ray detector and the puncture mechanism to move. The position and posture adjusting mechanism can drive the gamma-ray detector to move to any angle above the focus area, and can adjust the distance between the gamma-ray detector and the focus area so as to obtain the molecular image information of the focus area in any direction and improve the image quality of the molecular image information. Moreover, the puncture mechanism can directly carry out interventional puncture operation on the focus area according to the molecular image information without carrying out secondary operation, thereby improving the efficiency.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a detection intervention system, medical equipment and a detection intervention method.
Background
A SPECT (Single-Photon Emission computed tomography) machine is a nuclear medicine imaging device developed on the basis of a gamma camera. The basic structure of the device consists of three parts, namely a probe, a rotary motion frame, a computer and auxiliary equipment thereof. At present, when a SPECT machine images a focus area of a patient, a rotary motion frame drives a probe to do circular motion around the patient so as to obtain metabolic information of the focus area. However, the direction in which the probe is driven by the rotary motion frame to rotate is limited, and the metabolic information of the focus region can only be obtained from a fixed direction, so that the imaging quality is poor, and the diagnosis of medical personnel is influenced.
Disclosure of Invention
Therefore, it is necessary to provide a detection interventional system, a medical device and a detection interventional method for improving image imaging quality in order to solve the problem of poor imaging quality caused by obtaining the metabolic information of a lesion region from a fixed direction.
The above purpose is realized by the following technical scheme:
a detection intervention system, comprising:
the gamma ray detector is used for detecting the molecular image information of the focus area of the patient;
the puncture mechanism is used for carrying out interventional puncture operation on a focus area; and
the tail end of the position and posture adjusting mechanism is provided with the gamma-ray detector and the puncture mechanism and can drive the gamma-ray detector and the puncture mechanism to move.
In one embodiment, the position and orientation adjustment mechanism includes a mounting base and a robot assembly disposed on the mounting base, the robot assembly including a serial robot and/or a parallel robot.
In one embodiment, the mounting seat is detachably disposed on an end surface of the imaging body.
In one embodiment, the mounting base is provided on a mounting datum near an end of the imager, the mounting datum comprising a floor, a movable base provided on the floor, a wall surface, or a ceiling.
In one embodiment, the position and posture adjustment assembly further comprises a mounting plate disposed at the end of the robotic arm assembly, the mounting plate being used for mounting the puncture mechanism and/or the gamma ray detector.
In one embodiment, the gamma-ray detector and the puncturing mechanism are respectively arranged on two sides of the mounting plate, the gamma-ray detector is mounted on the surface of the mounting plate, which faces away from the mechanical arm assembly, and the puncturing mechanism is mounted on the surface of the mounting plate, which faces towards the mechanical arm assembly.
In one embodiment, the puncture mechanism comprises a support plate arranged on the mounting plate, a linear motion assembly arranged on the support plate, and an interventional instrument connected with the linear motion assembly, wherein the linear motion assembly drives the interventional instrument to extend to perform an interventional operation.
In one embodiment, the puncture mechanism further comprises a guide assembly disposed on the supporting plate and connected to the linear motion assembly for guiding the motion of the interventional instrument.
A method for detecting an intervention system, the method being applied to a system for detecting an intervention according to any of the above-mentioned features, the method comprising:
injecting a radioactive isotope medicament into the patient, the isotope medicament focusing the gamma rays emitted by the patient;
the position and posture adjusting mechanism drives the gamma-ray detector to move around the body surface of the patient so as to carry out radioactive detection, and a region with high ray intensity is determined as a focus region;
the position and posture adjusting mechanism adjusts the pose of the puncture mechanism and controls the puncture mechanism to execute interventional puncture operation.
A medical device, comprising an imaging body, a patient bed and a detection intervention system according to any one of the above technical features, wherein the imaging body is provided with a scanning cavity for the patient bed to move into;
the position and posture adjusting mechanism can drive the gamma-ray detector to align with a focus area outside or in the scanning cavity so as to acquire molecular image information of the focus area;
the position and posture adjusting mechanism can also drive the puncture mechanism to extend into the scanning cavity and control the puncture mechanism to execute interventional puncture operation;
the imaging body is an MR device or a CT device.
After the technical scheme is adopted, the invention at least has the following technical effects:
when the detection intervention system, the medical equipment and the detection intervention method are used, the position and posture adjusting mechanism drives the gamma-ray detector to move around the body surface of a patient so as to determine the focus area of the patient according to the ray intensity and acquire the molecular image information of the focus area, and then the position and posture adjusting mechanism drives the puncture mechanism to execute the intervention puncture operation according to the molecular image information. And when the position and posture adjusting mechanism acquires the molecular image information, the gamma-ray detector can be driven to move to any angle above the focus area, the distance between the gamma-ray detector and the focus area can be adjusted, the problem of poor imaging quality caused by acquiring the metabolic information of the focus area from a fixed direction at present is effectively solved, the molecular image information of the focus area in any direction is acquired, the image quality of the molecular image information is improved, and the diagnosis of medical personnel is facilitated. Moreover, after the molecular image information is acquired, the puncture mechanism can directly perform interventional puncture operation on the focus area according to the molecular image information, secondary operation is not needed, and the efficiency is improved.
Drawings
FIG. 1 is a perspective view of a system for monitoring interventional procedures operating on a patient in accordance with an embodiment of the present invention;
FIG. 2 is a perspective view of the interventional detection system of FIG. 1 with the mounting base removed;
FIG. 3 is a perspective view of a robotic arm assembly of the interventional system of FIG. 2;
FIG. 4 is a perspective view of the gamma-ray detector and the puncturing mechanism of the interventional detection system shown in FIG. 2 mounted on a mounting plate;
fig. 5 is a perspective view of the interventional detection system shown in fig. 1 configured as an imaging body.
Wherein:
100-detection of an interventional system;
110-position and attitude adjustment mechanism;
111-a mount;
112-a robotic arm assembly;
1121-a rod member;
1122-joint axis;
113-a mounting plate;
a 120-gamma ray detector;
130-a puncturing mechanism;
131-a support plate;
132-a linear motion assembly;
133-an interventional instrument;
134-a guide assembly;
1341-a connecting block; 13411-card slot;
1342-a guide rail;
200-patient;
300-a hospital bed;
400-imaging the body.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly apparent, the interventional detection system, the medical device and the interventional detection method of the present invention are further described in detail below by way of embodiments and with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
The present invention provides a detection interventional system 100. The interventional detection system 100 can be used independently or in conjunction with the imaging body 400 of a medical device. Referring to fig. 1-3, when the interventional detection system 100 is used independently, the interventional detection system 100 can perform a radiological examination of the patient 200 to determine a lesion area of the patient 200, thereby obtaining molecular image information of the lesion area of the patient 200. Referring to fig. 1 and 5, when interventional detection system 100 is used in conjunction with imaging engine 400, interventional detection system 100 may obtain molecular imaging information of a lesion area and imaging engine 400 may scan anatomical image information of patient 200. The molecular image information and the anatomical image information can be transmitted to a control system of the medical equipment, the control system fuses the two information to form fused information, and the fused information can clearly display specific information of a focus area, such as position information, real-time dynamic information and the like, so that interventional puncture surgery can be guided in real time, and the safety of the surgery is ensured.
Moreover, the detection intervention system 100 of the present invention can perform radioactive detection on the patient 200 at any angle, and when a lesion area is determined, the detection intervention system 100 can adjust to any angle above the lesion area, and can adjust the distance between the detection intervention system 100 and the lesion area, so as to obtain molecular image information of the lesion area in any direction, improve the image quality of the molecular image information, and facilitate diagnosis of medical staff. Moreover, after the molecular image information is obtained, the interventional detection system 100 can directly perform interventional puncture surgery on the lesion area according to the molecular image information without performing secondary operation, thereby improving efficiency.
Referring to fig. 1-3, in one embodiment, the interventional detection system 100 includes a gamma ray detector 120, a puncture mechanism 130, and a position and orientation adjustment mechanism 110. The gamma ray detector 120 is used to detect molecular imaging information of the lesion area of the patient 200. The puncture mechanism 130 is used for performing an interventional puncture operation on a lesion region. The gamma-ray detector 120 and the puncture mechanism 130 are installed at the end of the position and posture adjusting mechanism 110, and can drive the gamma-ray detector 120 and the puncture mechanism 130 to move.
The gamma ray detector 120 is used for performing radioactive detection on the patient 200, and can detect a lesion region of a living body and generate a molecular image containing biological physiological information, thereby providing assistance for diagnosis and treatment of medical staff. Specifically, a radioactive isotope medicament is injected into a specific organ in the body of the patient 200, the isotope medicament is enriched in a region of a human body where metabolism is vigorous, such as a tumor or inflammation region, the region is a focus region, the isotope decays and releases gamma rays, the intensity of the gamma rays released by the patient 200 can be detected when the gamma ray detector 120 moves along the body surface of the patient 200, and a region with high ray intensity, such as the tumor or inflammation region, is determined, and the region is the focus region. Moreover, after receiving the radiation intensity of the focal region, the gamma ray detector 120 reconstructs the image of the detected point carrying the spatial position information detected in each direction through the reconstruction algorithm of the computer, so as to obtain the spatial distribution of the gamma rays in the living body, thereby generating a molecular image with the gamma ray information, and further tracking and monitoring the focal region of the patient 200 in real time.
Also, the gamma ray detector 120 is provided at the end of the position and orientation adjusting mechanism 110. The position and orientation adjusting mechanism 110 has a movement capability of not less than two degrees of freedom. On one hand, the position and orientation adjusting mechanism 110 has a larger movement range, so that when the position and orientation adjusting mechanism 110 drives the gamma-ray detector 120 to move, the gamma-ray detector 120 can have a larger movement space, so that the gamma-ray detector 120 can perform comprehensive detection on the body of the patient 200 to determine the region with high radiation intensity. On the other hand, the position and posture adjusting mechanism 110 may also adjust the position and/or posture of the end thereof, thereby realizing the adjustment of the position and posture of the gamma ray detector 120, so that the gamma ray detector 120 may be aligned to the lesion area of the patient 200 at an arbitrary angle and an arbitrary distance, so as to obtain a molecular image of the lesion area with higher quality.
Because the existing detector is arranged in the imaging body, the detector is driven to rotate by the rotary motion frame of the imaging body, and the radioactivity detection of a patient is realized. However, the rotating motion frame in this way has only a single degree of freedom, so that the detector can only detect the image of the lesion area of the patient at a single angle, which affects the imaging quality of the image. Therefore, the interventional detection system 100 of the present invention is provided with the gamma ray detector 120 independent of the imaging machine body 400, and the position and posture adjustment mechanism 110 is adopted to drive the gamma ray detector 120 to realize a spatial six-degree-of-freedom motion position, so that the gamma ray detector 120 can perform molecular imaging information imaging on a lesion area at any angle and/or position while performing radioactive detection on the patient 200, thereby improving the imaging quality of the image and facilitating the diagnosis of medical care personnel.
Moreover, the interventional detection system 100 of the present invention may implement interventional procedures on the lesion area, specifically, via the puncturing mechanism 130. It is understood that interventional procedures herein include, but are not limited to, aspiration, biopsy, ablation, and the like. The lancing mechanism 130 is the primary component that detects that the interventional system 100 is performing an interventional lancing procedure. The puncture mechanism 130 may penetrate into the lesion area of the patient 200 to complete the interventional puncture procedure. Moreover, the fusion information of the gamma-ray detector 120 and the imaging body 400 can guide the puncture mechanism 130, so that the puncture mechanism 130 can accurately puncture the focal region of the patient 200, and the puncture process can be accurately, efficiently and safely completed in the interventional puncture operation.
When the interventional detection system 100 of the above embodiment is used, the position and posture adjusting mechanism 110 drives the gamma ray detector 120 to move around the body surface of the patient 200, so as to determine the focal region of the patient 200 according to the intensity of the radiation and acquire the molecular image information of the focal region, and then the position and posture adjusting mechanism 110 drives the puncture mechanism 130 to perform an interventional puncture operation according to the molecular image information. Moreover, when the position and posture adjusting mechanism 110 acquires the molecular image information, the gamma ray detector 120 can be driven to move to any angle above the lesion area, and the distance between the gamma ray detector 120 and the lesion area can be adjusted, so that the problem of poor imaging quality caused by acquiring the metabolic information of the lesion area from a fixed direction at present is effectively solved, the molecular image information of the lesion area in any direction is acquired, the image quality of the molecular image information is improved, and the diagnosis of medical care personnel is facilitated. Moreover, after the molecular image information is acquired, the puncture mechanism 130 can directly perform an interventional puncture operation on the lesion area according to the molecular image information, and a secondary operation is not required, so that the efficiency is improved.
Referring to fig. 2 and 3, in one embodiment, the position and orientation adjustment mechanism 110 includes a mounting block 111 and a robot assembly 112 disposed on the mounting block 111, and the robot assembly 112 includes a serial robot and/or a parallel robot. The mounting block 111 serves as a load bearing mounting for mounting the robot arm assembly 112 so that the robot arm assembly 112 may be mounted in any position. Alternatively, the mounting base 111 includes, but is not limited to, a mounting platform, a mounting post, etc., and may be other components that enable mounting of the robotic arm assembly 112.
Optionally, the mounting base 111 is a columnar multi-section structure, and the length and height of the mounting base can be adjusted to meet the requirements of different heights. Optionally, the mounting base is provided with an axially extending bore, and a signal transmission line/power transmission line is disposed in the bore and connects the gamma-ray detector 120/the surface detector 130 with the controller.
The robot assembly 112 includes serial and/or parallel robots, at least one serial robot and/or at least one parallel robot. That is, the robotic assembly 112 may include at least one serial robotic arm coupled to move the gamma ray detector 120 and the lancing mechanism 130. The robotic assembly 112 may also include a plurality of parallel robotic arms coupled to move the gamma ray detector 120 and the lancing mechanism 130 through at least one parallel robotic arm. Of course, the robot assembly 112 may further include at least one serial robot and at least one parallel robot, and the gamma ray detector 120 and the puncturing mechanism 130 are driven by the serial robot and the parallel robot in cooperation, in this case, the parallel robot is located at the end of the serial robot. It will be appreciated that the serial robot arm includes a plurality of rods 1121 rotatably coupled by joint shafts 1122. The parallel robotic arm may comprise, for example, a stewart platform.
The present invention is described by way of example only with the robotic arm assembly 112 including the rod 1121. In one embodiment, the mechanical arm assembly 112 includes a plurality of rod members 1121 and a plurality of joint shafts 1122, the plurality of rod members 1121 are sequentially rotatably connected by the joint shafts 1122, the head ends of the plurality of rod members 1121 are rotatably mounted on the mounting base 111 by the joint shafts 1122, and the tail ends of the plurality of rod members 1121 are rotatably mounted on the gamma ray detector 120 and/or the puncturing mechanism 130 by the joint shafts 1122. The mechanical arm assembly 112 formed by the rods 1121 has multiple degrees of freedom, and the working space of the plurality of joint shafts 1122 connected in series is large, so that the end of the mechanical arm assembly 112 can move to any position, and the gamma-ray detector 120 is driven to perform the radioactivity detection on the patient 200.
It is understood that the robotic arm assembly 112 may employ a three-joint serial robot arm, a four-joint serial robot arm, a five-joint serial robot arm, a six-joint serial robot arm, or even more joint serial robot arms to meet the motion requirements of different lesion locations. Illustratively, as shown in fig. 3, the robot arm assembly 112 is a six-joint tandem robot arm, and rotatable joint shafts 1122 are disposed between adjacent rod members 1121, between the rod members 1121 and the mounting base 111, and at ends of the rod members 1121, and the rod members 1121 can be rotated in corresponding directions by the joint shafts 1122. After the six-joint rod 1121 is rotated and stacked, the end of the mechanical arm assembly 112 has a wide range of motion, so as to drive the gamma-ray detector 120 to move to any position, thereby meeting the requirement of radioactive detection on the patient 200.
Optionally, interventional detection system 100 further includes a controller electrically connectable to gamma ray detector 120, robotic arm assembly 112, and lancing mechanism 130. The controller can control the gamma-ray detector 120 to detect gamma-rays emitted by isotopes in the body of the patient 200 to realize the detection of rays and acquire molecular image information of a focus area; the controller may control the robot arm assembly 112 to move and stop; the controller may control the puncture mechanism 130 to perform a puncture intervention operation. And the controller can also be in transmission connection with a control system of the medical equipment so as to transmit the molecular image information to the control system. The controller can be a computer, a DSP, a singlechip or an FPGA and the like.
When the gamma ray detector 120 detects a region with a large radioactivity, the controller of the interventional detection system 100 controls the position locking of the mechanical arm assembly 112, thereby preventing the positions of the gamma ray detector 120 and the puncture mechanism 130 from shifting due to the continuous movement of the mechanical arm assembly 112, ensuring the accurate imaging of the molecular image information of the focus region, and ensuring the accuracy of the operation. Illustratively, the position and orientation adjusting mechanism 110 further includes a control motor electrically connected to the controller, the controller drives the mechanical arm assembly 112 to move through the control motor, and after the mechanical arm assembly 112 moves to the lesion area and adjusts the required detection angle, the control motor is locked, so that the control motor stops moving, and the mechanical arm assembly 112 is locked. When the detection angle needs to be adjusted again, the controller unlocks the control motor, and the control motor is locked after the mechanical arm assembly 112 is adjusted.
Alternatively, the controller may automatically control the operation of the gamma ray detector 120 and the puncturing mechanism 130. Of course, in other embodiments of the present invention, the interventional detection system 100 further includes a manipulator, which is electrically connected to the controller and the robotic arm assembly 112 for controlling the movement of the robotic arm assembly 112 and realizing manual control of the gamma ray detector 120 and the puncturing mechanism 130.
It is understood that the robotic assembly 112 may move the gamma ray detector 120 to detect radioactivity either within the scanning bore of the imaging body 400 or outside of the scanning bore of the imaging body 400.
It should be noted that the structure of the gamma ray detector 120 is the same as that of the detector in the imaging body 400 in the prior art, and each of the gamma ray detector and the detector includes a plurality of detector modules; the interventional detection system 100 of the present invention considers the imaging angle of the molecular image information, so that the gamma ray detector 120 is independent of the imaging body 400, and the mechanical arm assembly 112 is used to adjust the detection angle and position of the gamma ray detector 120, thereby ensuring the imaging quality of the image. The specific structure of the gamma-ray detector 120 at least includes a collimator, a crystal, a light guide, a photomultiplier tube, a computing circuit, and the like, and the specific functions, arrangement positions, and connection relationships thereof are not described in detail.
Referring to fig. 1 and 5, in an embodiment, the mount 111 is detachably provided to an end surface of the imaging body 400. The interventional detection system 100 of the present invention can be used in conjunction with the existing imaging body 400 without being added separately, which can reduce the cost. When radioactivity detection is required, the mounting seat 111 is mounted on the end surface of the imaging body 400, and at this time, the mechanical arm assembly 112 can drive the gamma ray detector 120 to perform radioactivity detection. After the detection is completed, the mounting base 111 can be moved out from the end face of the imaging body 400, so that the accommodation of the interventional system 100 can be conveniently detected, and meanwhile, the influence on the independent imaging of the imaging body 400 is avoided. Of course, in other embodiments of the present invention, the mounting seat 111 may be directly fixed to the end surface of the imaging body 400.
In one embodiment, the mounting seat 111 is detachably disposed on the patient bed 300. The patient 200 lies on the patient bed 300, and the mechanical arm assembly 112 can drive the gamma ray detector 120 to perform the radioactivity detection on the patient 200 on the patient bed 300. When the gamma-ray detector 120 needs to be moved into the scanning chamber, the controller is not needed to control the mechanical arm assembly 112 to drive the gamma-ray detector 120 to move, and the mounting base 111, the mechanical arm assembly 112 thereon and the gamma-ray detector 120 can be directly driven by the hospital bed 300 to move into the scanning chamber. It will be appreciated that the mounting 111 is intended to be mounted to the patient bed 300 during use and removed after use. Of course, in other embodiments of the present invention, the mounting seat 111 may also be fixedly mounted to the hospital bed 300.
In one embodiment, the mounting base 111 is provided at a mounting reference near an end of the imaging body 400, and the mounting reference includes a floor, a moving base provided at the floor, a wall surface, or a ceiling. That is, the mounting seat 111 can be disposed near the imaging body 400, so that the mechanical arm assembly 112 drives the gamma ray detector 120 to move to the end of the imaging body 400 and also move into the scanning cavity, thereby realizing the radioactivity detection of the patient 200 on the patient bed 300.
It should be noted that when the interventional detection system 100 is used alone without the imaging body 400, the mounting seat 111 is disposed on the ground, wall or ceiling near the patient bed 300. At this time, only the patient bed 300 may be in the detection room, or the patient bed 300 does not enter the imaging body 400, and the gamma-ray detector 120 is driven by the mechanical arm assembly 112 near the patient bed 300 to perform the radioactive detection on the patient 200 on the patient bed 300.
Referring to fig. 1 to 4, in an embodiment, the position and orientation adjustment mechanism 110 further includes a mounting plate 113 disposed at an end of the robot arm assembly 112, and the mounting plate 113 is used for mounting the puncturing mechanism 130 and/or the gamma ray detector 120. The mounting plate 113 serves as a bearing mounting for mounting the lancing mechanism 130 and the gamma ray detector 120 to the end of the robotic arm assembly 112. Optionally, the puncturing mechanism 130 and the gamma ray detector 120 are detachably mounted to the mounting plate 113. Further, the puncture mechanism 130 and the gamma ray detector 120 are detachably mounted to the mounting plate 113 by screws.
Alternatively, the mounting plate 113 may mount only the gamma-ray detector 120 or the puncture mechanism 130. When the mounting plate 113 is only provided with the gamma-ray detector 120 or the puncture mechanism 130, the gamma-ray detector 120 is firstly mounted on the mounting plate 113, the mechanical arm assembly 112 firstly drives the gamma-ray detector 120 to carry out radioactive detection to obtain molecular image information of a focus area, then the gamma-ray detector 120 is moved out of the mounting plate 113, then the puncture mechanism 130 is mounted, and the mechanical arm assembly 112 then drives the puncture mechanism 130 to carry out interventional puncture operation.
Alternatively, the gamma ray detector 120 and the puncturing mechanism 130 may be mounted on the mounting plate 113 at the same time. That is, the gamma-ray detector 120 and the puncturing mechanism 130 are integrated. The mechanical arm assembly 112 drives the gamma ray detector 120 to perform radioactive detection to obtain molecular image information of a focus area; the robotic arm assembly 112 may then directly drive the lancing mechanism 130 to perform an interventional lancing procedure. Therefore, the tail end does not need to be replaced, the process of dismounting again is omitted, the repositioning of the mechanical arm assembly 112 is reduced, and the efficiency is improved.
Alternatively, the gamma ray detector 120 and the puncturing mechanism 130 may be disposed on opposite sides. In one embodiment, the gamma ray detector 120 and the puncturing mechanism 130 are respectively disposed at two sides of the mounting plate 113, the gamma ray detector 120 is mounted on a surface of the mounting plate 113 facing away from the robot assembly 112, and the puncturing mechanism 130 is mounted on a surface of the mounting plate 113 facing toward the robot assembly 112. That is, the gamma-ray detector 120 and the puncturing mechanism 130 are mounted on opposite sides of the mounting plate 113, with the gamma-ray detector 120 facing the patient 200 and the puncturing mechanism 130 facing away from the patient 200.
The gamma-ray detector 120 is disposed on a side of the mounting plate 113 facing the patient 200 such that the gamma-ray detector 120 directly receives radiation information within the patient 200. After the puncturing mechanism 130 is disposed on the surface of the mounting plate 113 away from the patient 200, the puncturing mechanism 130 can be hidden, so that the puncturing mechanism 130 does not protrude from the gamma ray detector 120. Thus, when the gamma-ray detector 120 is close to the patient 200, the puncturing mechanism 130 will not interfere with the patient 200, and the accuracy of the detection of the use of the interventional system 100 is ensured.
Of course, in other embodiments of the present invention, the puncturing mechanism 130 may be disposed on the same side as the γ -ray detector 120, and in this case, it is sufficient to ensure that the end surface of the puncturing mechanism 130 is flush with the end surface of the γ -ray detector 120. At this time, a pad or a bracket may be added between the mounting plate 113 and the gamma ray detector 120.
Optionally, the gamma-ray detector 120 and the puncturing mechanism 130 may also be disposed on the same side of the mounting plate 113 and located at the left and right sides of the joint of the puncturing mechanism or the mechanical arm assembly 112, and by arranging the gamma-ray detector 120 and the puncturing mechanism 130 in this way, the mounting plate 113 may be closer to the patient, the length of the interventional device 133 may be reduced, and a subsequent puncturing operation may be facilitated; in addition, by adjusting the distance between the center of gravity of the puncturing mechanism 130 and the center of gravity of the gamma-ray detector 120 and the joint (point) between the mechanical arm assembly 112 (or the joint) and the mounting plate 113, the moments acting on the mounting plate 113 by the puncturing mechanism 130 and the gamma-ray detector 120 are equal, so that the spatial positions of the puncturing mechanism 130 and the gamma-ray detector 120 can be better balanced, and the puncturing mechanism 130 can be more accurately positioned.
In one embodiment, the lancing mechanism 130 includes a support plate 131 disposed on the mounting plate 113, a linear motion assembly 132 disposed on the support plate 131, and an interventional instrument 133 coupled to the linear motion assembly 132, the linear motion assembly 132 driving the interventional instrument 133 to extend to perform an interventional procedure. The support plate 131 is used to mount the puncture mechanism 130 on the mounting plate 113. Illustratively, the support plate 131 is disposed perpendicular to the mounting plate 113. A linear motion assembly 132 is mounted on the support plate 131 and an interventional instrument 133 is mounted at an output end of the linear motion assembly 132. The linear motion assembly 132 may output a linear motion to cause the interventional instrument 133 to penetrate into or be removed from the focal region.
Alternatively, the linear motion assembly 132 is a structure capable of outputting linear motion, such as a motor coupled with a ball screw structure, such as a motor coupled with a belt transmission structure, such as a telescopic motor, a cylinder, and so on. Illustratively, the linear motion assembly 132 includes a motor, a lead screw connected to an output of the motor, and a nut rotatable along the lead screw, which may mount the interventional instrument 133. When the motor rotates, the screw rod can be driven to rotate, and then the nut moves axially along the screw rod to drive the interventional device 133 to extend or retract.
Optionally, the interventional instrument 133 is a puncture needle. The puncture needle includes but is not limited to a biopsy needle, a radio frequency ablation needle, a microwave ablation needle or a puncture drainage needle, etc. Of course, in other embodiments of the present invention, the interventional instrument 133 may also include a non-contact treatment member or the like. Non-contact treatment components include, but are not limited to, radiation sources for radiation therapy, and the like.
In one embodiment, the puncture mechanism 130 further comprises a guiding assembly 134, wherein the guiding assembly 134 is disposed on the supporting plate 131 and connected to the linear motion assembly 132 for guiding the motion of the interventional instrument 133. The guiding component 134 is used for guiding the linear motion output by the linear motion component 132, so that the situation that the intervention angle of the intervention instrument 133 is changed due to the fact that the nut moves is avoided, and the safety of the intervention operation is guaranteed. Illustratively, the guiding assembly 134 includes a guide rail 1342 and a connecting block 1341 slidably disposed on the guide rail 1342, wherein the connecting block 1341 is connected to a nut. When the screw moves along the axial direction of the screw rod, the screw can drive the connecting block 1341 to slide along the guide rail 1342, so that the accuracy of the motion track of the connecting block 1341 is ensured. Optionally, the connecting block 1341 has a slot 13411 for detachably mounting the interventional instrument 133, thereby facilitating replacement of the interventional instrument 133.
Further, the end of the mounting plate 113 is provided with a through hole penetrating through the upper and lower surfaces of the mounting plate, the interventional device 133 can pass through the through hole, and optionally, the through hole can be a V-shaped hole, the interventional device 133 is adjacent to the bottom of the V-shaped hole, and the V-shaped hole can be used for facilitating the installation of the interventional device and assisting in positioning the interventional device 133.
The present invention also provides a method of detecting an intervention in an interventional system 100. The detection intervention method is applied to the detection intervention system 100 of any of the above embodiments. The method for detecting the intervention comprises the following steps:
injecting a radioactive isotope medicament into the body of the patient 200, the isotope medicament accumulating at a focal site in the body of the patient 200 and emitting gamma rays;
the position and posture adjusting mechanism 110 drives the gamma-ray detector 120 to move around the body surface of the patient 200 so as to carry out radioactive detection, and a region with high ray intensity is determined as a focus region;
the position and posture adjusting mechanism 110 adjusts the posture of the puncture mechanism 130 and controls the puncture mechanism 130 to perform an interventional puncture operation.
When the interventional system 100 is used, the gamma ray detector 120 and the puncturing mechanism 130 are first installed at the end of the mechanical arm assembly 112. The health care provider then injects the radioisotope pharmaceutical agent into the patient 200. The isotope medicament will be enriched in areas of the patient 200 with vigorous metabolism, such as tumors or inflammations, etc., while the isotope medicament decays, releasing gamma rays. The mechanical arm assembly 112 of the position and posture adjusting mechanism 110 drives the gamma-ray detector 120 to move around the body surface of the patient 200 for radioactive detection, and the gamma-ray detector 120 can receive ray information in the body of the patient 200 and determine a region with high ray intensity, which is a focus region. At this time, the gamma ray detector 120 may generate molecular image information after receiving the radiation information of the lesion area. Then, the manipulator assembly 112 drives the puncturing mechanism 130 to perform an interventional puncturing operation according to the position of the lesion area detected by the gamma-ray detector 120 and controls the puncturing mechanism 130 under the guidance of the molecular image information.
Referring to fig. 5, the present invention further provides a medical apparatus, which includes an imaging body 400, a patient bed 300, and the interventional detection system 100 in the above embodiment, wherein the imaging body 400 has a scanning cavity for moving the patient bed 300. The position and orientation adjusting mechanism 110 can drive the gamma ray detector 120 to align with the focal region outside or inside the scanning cavity to obtain the molecular image information of the focal region. The position and posture adjusting mechanism 110 can also drive the puncturing mechanism 130 to extend into the scanning cavity and control the puncturing mechanism 130 to perform an interventional puncturing operation. After the interventional detection system 100 of the embodiment is adopted in the medical device of the present invention, the gamma ray detector 120 independent from the imaging body 400 is matched with the imaging body 400 to obtain the fusion information of the lesion area, and meanwhile, the mechanical arm assembly 112 can drive the puncture mechanism 130 to extend into the scanning cavity during the interventional puncture operation. Subsequently, the linear motion assembly 132 drives the interventional device 133 to move according to the fusion information to penetrate into the lesion area of the patient 200, thereby completing the interventional puncture operation. Moreover, after the gamma-ray detector 120 is independent of the imaging body 400, the mechanical arm assembly 112 can drive the gamma-ray detector 120 to image the focus area at any angle and any position, so that the imaging quality is improved, and the diagnosis of medical staff is facilitated.
Among them, the Imaging body 400 may be a Magnetic Resonance Imaging (MR) apparatus or a Computed Tomography (CT) apparatus. The gamma-ray detector 120 and the real-time interventional puncture guided by MR or CT have great clinical value, especially form real-time fusion information, can simultaneously obtain anatomical structure, functional imaging and metabolic imaging information, and can realize accurate, efficient and safe completion of the puncture process under the guidance of the fusion information.
The technical features of the embodiments described above can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A system for detection intervention, comprising:
the gamma ray detector is used for detecting the molecular image information of the focus area of the patient;
the puncture mechanism is used for carrying out interventional puncture operation on a focus area; and
the tail end of the position and posture adjusting mechanism is provided with the gamma-ray detector and the puncture mechanism and can drive the gamma-ray detector and the puncture mechanism to move.
2. A detection and intervention system as claimed in claim 1, wherein the position and orientation adjustment mechanism comprises a mounting base and a robotic arm assembly disposed on the mounting base, the robotic arm assembly comprising a serial robotic arm and/or a parallel robotic arm.
3. A system for detection intervention according to claim 2, wherein the mounting block is removably disposed at an end surface of the imaging body.
4. A test intervention system as claimed in claim 2, wherein the mounting base is provided at a mounting datum near an end of the imaging engine, the mounting datum comprising a floor surface, a movable base provided at the floor surface, a wall surface or a ceiling.
5. A detection and intervention system as claimed in any of claims 2 to 4, wherein the position and orientation adjustment assembly further comprises a mounting plate disposed at an end of the robotic arm assembly, the mounting plate being configured to mount the puncture mechanism and/or the gamma ray detector.
6. The interventional detection system of claim 5, wherein the gamma-ray detector and the puncturing mechanism are disposed on two sides of the mounting plate, the gamma-ray detector is mounted on a surface of the mounting plate facing away from the robotic arm assembly, and the puncturing mechanism is mounted on a surface of the mounting plate facing toward the robotic arm assembly.
7. The system of claim 6, wherein the lancing mechanism includes a support plate disposed on the mounting plate, a linear motion assembly disposed on the support plate, and an interventional instrument coupled to the linear motion assembly, the linear motion assembly driving the interventional instrument to extend to perform an interventional procedure.
8. The system of claim 7, wherein the lancing mechanism further comprises a guide assembly disposed on the support plate and coupled to the linear motion assembly for guiding the movement of the interventional instrument.
9. A method for detecting an intervention of an interventional system, the method being applied to the system for detecting an intervention according to any one of claims 1 to 8, the method comprising:
injecting a radioactive isotope medicament into the patient, the isotope medicament focusing the gamma rays emitted by the patient;
the position and posture adjusting mechanism drives the gamma-ray detector to move around the body surface of the patient so as to carry out radioactive detection, and a region with high ray intensity is determined as a focus region;
the position and posture adjusting mechanism adjusts the pose of the puncture mechanism and controls the puncture mechanism to execute interventional puncture operation.
10. A medical apparatus comprising an imaging body, a patient bed, and the interventional detection system of any one of claims 1-8, the imaging body having a scanning lumen into which the patient bed moves;
the position and posture adjusting mechanism can drive the gamma-ray detector to align with a focus area outside or in the scanning cavity so as to acquire molecular image information of the focus area;
the position and posture adjusting mechanism can also drive the puncture mechanism to extend into the scanning cavity and control the puncture mechanism to execute interventional puncture operation;
the imaging body is an MR device or a CT device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010209222.XA CN111317550A (en) | 2020-03-23 | 2020-03-23 | Interventional detection system, medical equipment and interventional detection method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010209222.XA CN111317550A (en) | 2020-03-23 | 2020-03-23 | Interventional detection system, medical equipment and interventional detection method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114224448A (en) * | 2021-12-21 | 2022-03-25 | 武汉大学 | Puncture path planning device, apparatus, and computer-readable storage medium |
| WO2022247837A1 (en) * | 2021-05-24 | 2022-12-01 | 武汉联影智融医疗科技有限公司 | Puncture device and puncture system |
-
2020
- 2020-03-23 CN CN202010209222.XA patent/CN111317550A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022247837A1 (en) * | 2021-05-24 | 2022-12-01 | 武汉联影智融医疗科技有限公司 | Puncture device and puncture system |
| CN114224448A (en) * | 2021-12-21 | 2022-03-25 | 武汉大学 | Puncture path planning device, apparatus, and computer-readable storage medium |
| CN114224448B (en) * | 2021-12-21 | 2023-11-10 | 武汉大学 | Puncture path planning device, puncture path planning apparatus, and puncture path planning program |
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