CN111956960B - Dynamic positioning device of high-intensity focused ultrasound treatment system - Google Patents
Dynamic positioning device of high-intensity focused ultrasound treatment system Download PDFInfo
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- CN111956960B CN111956960B CN202010837066.1A CN202010837066A CN111956960B CN 111956960 B CN111956960 B CN 111956960B CN 202010837066 A CN202010837066 A CN 202010837066A CN 111956960 B CN111956960 B CN 111956960B
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- A61N7/00—Ultrasound therapy
Abstract
The invention discloses a dynamic positioning device of a high-intensity focused ultrasound treatment system, which comprises a flat plate rotating mechanism and a three-circle cantilever mechanism, wherein the flat plate rotating mechanism comprises an upper flat plate, a middle flat plate and a lower flat plate, and the lower flat plate is fixed on the three-circle cantilever mechanism. The flat plate rotating mechanism comprises a steering mechanism around the X-axis direction and a steering mechanism around the Y-axis direction; the three-circle cantilever mechanism comprises three axial moving mechanisms of X ', Y ' and Z '. The flat plate is rotated through the flat plate connecting body to form an arc-shaped mechanism; in the relative vertical direction, the rotation in the vertical direction can be realized, and an arc-shaped mechanism in the vertical direction is formed; and three motors respectively control the three-circle cantilever mechanism to give spatial displacement to the connecting part of the three-circle cantilever mechanism within an adjustable range. The stable operation of the dynamic positioning device in the treatment process can be realized through the two arc-shaped mechanisms generated by the rotation of the flat plate and the spatial movement of the three-circumference cantilever, and the positioning precision is improved.
Description
Technical Field
The invention relates to a dynamic positioning device, in particular to a dynamic positioning device of a high-intensity focused ultrasound treatment system.
Background
A high intensity focused ultrasound therapy system is a complex system that integrates positioning, focusing, imaging, and centralized control. During treatment, sound wave energy emitted by an ultrasonic source is focused in different modes, focused ultrasound is emitted to pathological change tissues of a human body, cells of the pathological change tissues in a focal region can be damaged through irradiation of the focused ultrasound, and the rest tissue cells are basically not affected by the focused ultrasound and are damaged outside an unirradiated focal region.
The dynamic positioning system is a combination of ultrasonics and robotics, has a complex structure, and needs to meet the functional requirements of the system and have certain precision. The high-intensity focused ultrasound has small target spot and high intensity, a plurality of important organs exist in a human body, and in order to avoid damaging normal tissues and improving treatment efficiency, a high-intensity transducer of a treatment system needs to be accurately positioned to a tumor generation part according to an image processing result.
In the positioning process of treatment, a patient is fixed on a treatment bed, if a treatment mechanism is also fixed relatively, and then treatment is carried out, because the fixed posture of a human body is limited during treatment, the part to be treated is limited, and the patient is fixed, so that the mental and psychological effects of the patient are large. Therefore, the transducer is guided to move through the acquisition and registration of images of the tumor and the fine mechanical motion positioning control, so that the accurate and effective treatment and monitoring are achieved.
The overall structure of the existing dynamic positioning system is roughly divided into three parts, namely an upper-layer deflection mechanism: forming a region curve by the locus of the focal point; rotation mechanism of the intermediate layer: the arc curve formed by the deflection rotates 180 degrees around the center of the curve, and the arc can form a spherical crown surface; the lower layer is a lifting mechanism: the formed spherical crown surface is moved up and down to form two cylinders with spherical crown surfaces as bottom surfaces. The whole dynamic positioning mechanism cannot be always aligned with a diseased region for detection when moving due to the matching of rotation and deflection, the focusing difficulty is caused due to the angle change during rotation, and the precision of the whole dynamic positioning mechanism is too low due to the poor matching of the rotation mechanism and the deflection mechanism.
The moving device in the high-intensity focused ultrasound tumor scanning treatment system described in chinese patent 98100283.8 is composed of three-dimensional rectangular coordinates and one-dimensional or two-dimensional rotating coordinates, and in the treatment process, the patient is not completely horizontal on the treatment bed, and may have a directional included angle with the bed axis, and the cross section of the tumor is generally in a fan-shaped structure.
Thus, there is a need for an apparatus that allows the focal point of the transducer to form a circular arc, which is not achieved by prior art devices.
Disclosure of Invention
The invention aims to provide a dynamic positioning device of a high-intensity focused ultrasound treatment system.
The purpose of the invention is realized by the following technical scheme:
the dynamic positioning device of the high-intensity focused ultrasound treatment system comprises an upper flat plate, a middle flat plate and a lower flat plate, wherein arch supports are respectively fixed on the middle flat plate and the lower flat plate, support connectors are fixed at the lower parts of the arches of the arch supports, and flat plate connectors are respectively arranged at the lower parts of the upper flat plate and the middle flat plate;
the flat plate connector of the upper flat plate and the support connector of the middle flat plate and the flat plate connector of the middle flat plate and the support connector of the lower flat plate are respectively connected through flat plate rotating mechanisms, the two flat plate rotating mechanisms have the same structure, and rotating pairs of the two flat plate rotating mechanisms are mutually vertical;
the lower flat plate is fixed on the three-circle cantilever device.
According to the technical scheme provided by the invention, the dynamic positioning device of the high-intensity focused ultrasound treatment system provided by the embodiment of the invention adopts the flat plate rotating mechanism and the three-circle cantilever device to dynamically position the treatment system, the flat plate rotating mechanism can rotate in a small range around the X-axis direction and the Y-axis direction, and the formed arc-shaped mechanism enables a focus sent by the device arranged on the flat plate rotating mechanism to form an arc surface; the three-circle cantilever device can realize limited movement in the axial directions of X ', Y ' and Z ' axes, so that the whole equipment can realize space movement in an adjustable range; the three-circle cantilever device and the flat plate rotating mechanism can move within a space range, and the generated arc-shaped mechanism improves the positioning precision of the whole treatment system.
Drawings
Fig. 1 is a schematic front view structural diagram of a dynamic positioning device of a high-intensity focused ultrasound therapy system according to an embodiment of the present invention;
FIG. 2 is a side view of a dynamic positioning apparatus of a high-intensity focused ultrasound therapy system provided in accordance with an embodiment of the present invention;
FIG. 3 is a structural view of a plate rotating mechanism according to an embodiment of the present invention;
fig. 4 is a structural diagram of a three-cycle cantilever apparatus in an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in further detail below. Details which are not described in detail in the embodiments of the invention belong to the prior art which is known to the person skilled in the art.
The invention discloses a dynamic positioning device of a high-intensity focused ultrasound treatment system, which has the following preferred specific implementation modes:
the device comprises an upper flat plate, a middle flat plate and a lower flat plate, wherein arch supports are respectively fixed on the middle flat plate and the lower flat plate, support connectors are fixed at the lower parts of the arches of the arch supports, and flat plate connectors are respectively arranged at the lower parts of the upper flat plate and the middle flat plate;
the flat plate connector of the upper flat plate and the support connector of the middle flat plate and the flat plate connector of the middle flat plate and the support connector of the lower flat plate are respectively connected through flat plate rotating mechanisms, the two flat plate rotating mechanisms have the same structure, and rotating pairs of the two flat plate rotating mechanisms are mutually vertical;
The lower flat plate is fixed on the three-circle cantilever device.
The flat plate rotating mechanism comprises a shaft, a large gear is fixed on the shaft, two ends of the shaft are installed on the support connecting body through bearings, and the flat plate connecting body is fixedly connected with the shaft;
stepping motors are fixed on the middle flat plate and the lower flat plate through mounting plates respectively, and a pinion is mounted on an output shaft of each stepping motor and meshed with the corresponding gearwheel.
The three-circle cantilever device comprises a connecting arm, an X 'main body, a Y' main body and a Z 'main body, wherein the lower flat plate is fixed at the upper end of the connecting arm, the lower end of the connecting arm is arranged on a longitudinal sliding groove of the Y' main body, the Y 'main body is arranged on a vertical sliding groove of the Z' main body, and the Z 'main body is arranged on a transverse sliding groove of the X' main body.
The lower part of the Z 'main body is fixed on a sliding seat through a fixing plate and a reinforcing plate, and the sliding seat is arranged in a sliding groove of the X' main body.
The upper flat plate, the middle flat plate and the lower flat plate are made of aluminum alloy materials.
And two rectangular grooves are formed in the interference part between the upper flat plate and the arched bracket.
The support connecting body is welded on the arched support, and a bearing mounting hole is formed in the support connecting body and is provided with a bearing end cover and an inner end cover.
The bull gear is secured to the shaft by a key.
The shaft is rigidly connected to the plate connector.
The X 'main body, the Y' main body and the Z 'main body are respectively provided with a driving motor, the side surfaces of the sliding grooves of the X' main body, the Y 'main body and the Z' main body are respectively provided with a displacement sensor, and the corresponding sliding seats are provided with induction sheets.
The invention relates to a dynamic positioning device of a high-intensity focused ultrasound treatment system, which mainly adopts a flat rotating mechanism and a three-circle cantilever device to dynamically position the treatment system. The flat plate rotating mechanism can rotate in a small range around the X-axis direction and the Y-axis direction, and the formed arc mechanism enables a focus emitted by a device arranged on the flat plate rotating mechanism to form an arc surface; the three-circle cantilever device can realize limited movement in the axial directions of X ', Y ' and Z ' axes, so that the whole equipment can realize space movement in an adjustable range; the three-circle cantilever device and the flat plate rotating mechanism can move within a space range, and the generated arc-shaped mechanism improves the positioning precision of the whole treatment system.
The specific embodiment is as follows:
referring to fig. 1 to 4, the present invention provides a dynamic positioning device for a high intensity focused ultrasound therapy system, including: the device comprises an upper flat plate 8, a middle flat plate 7, a lower flat plate 19, an arched support 6, a support connector 18, a gearwheel 14, a shaft 11, a flat plate connector 9, a connecting arm 20, a stepping motor 10, an X ' main body 24, a Y ' main body 21, a Z ' main body 22, a sliding seat 3, a fixing plate 4, a reinforcing plate 5, an induction sheet 2, a displacement sensor 1, a mounting plate 12, a bearing end cover 17 and an inner end cover 16.
The upper flat plate 8, the middle flat plate 7 and the lower flat plate 19 are used for supporting and fixing in the whole flat plate rotating mechanism; two rectangular grooves are formed in the upper flat plate 8 and the middle flat plate 7, so that interference between the upper flat plate 8 or the middle flat plate 7 and the arched bracket 6 is avoided when the flat plate rotating mechanism deflects. No grooving is required since the lower plate 19 does not rotate.
The arched bracket 6 is welded on the middle flat plate 7 and plays a supporting role in the whole flat plate rotating mechanism.
The bracket connecting body 18 is welded on the arched bracket 6, a hole is arranged on the bracket connecting body 18, and the rotation of the shaft 11 on the bracket connecting body 18 is realized through a bearing.
The bearing end cap 17, inner end cap 16 are part of a bearing for accommodating movement of the shaft 11.
The bull gear 14 is fixed with the shaft 11 through a key 15, the bull gear 14 and the shaft 11 are fixed and unchangeable, the step motor 10 drives the pinion 13 to rotate, the pinion 13 serves as a driving wheel to drive the bull gear 14 to rotate, and the bull gear 14 is fixed with the shaft 11 together, so that the shaft 11 also rotates.
The shaft 11 is rigidly connected with the flat plate connector 9, the shaft and the flat plate connector 9 are fixed, the flat plate connector 9 is fixed on the upper flat plate 8, the shaft 11 is driven to rotate by the stepping motor 10, and the flat plate connector 9 fixed on the shaft 11 rotates along with the shaft, so that the purpose of rotating the upper flat plate 8 is achieved through the flat plate connector 9.
The mounting plate 12 plays a role of fixing and supporting the stepping motor 10 and is fixedly mounted on the middle flat plate 7 or the lower flat plate 19.
Further, the lower plate 19 is not slotted with a rectangular slot, and the mechanism used to rotate the intermediate plate 7 is the same as the rotation mechanism of the upper plate 8, but the relative positions of the two mechanisms are perpendicular. The flat plate connecting body fixed on the shaft is driven to rotate by the driving of the two driving motors respectively, so that the flat plate rotating mechanism can rotate in a small range around the X and Y axis directions.
Further, the connecting arm 20 is used to connect the flat rotating mechanism and the three-circle cantilever device, so that the whole system can meet the required height during operation, and meanwhile, the mutual interference between the flat rotating mechanism and the three-circle cantilever device is avoided.
Further, the X ' body 24 is driven by a motor to give a movement in the X ' direction to the device fixed to the X ' body 24; the same Y 'body 21, Z' 22 body can impart movement in the Y ', Z' directions, respectively.
Further, the slider 3 is mounted on the body so as to be movable through a slide groove in the body.
Furthermore, one side of the fixing plate 4 is fixed on the sliding base 3, and the other side is fixed with other main bodies, so as to play a role of fixed connection.
Further, a reinforcing plate 5 is mounted on the fixing plate between the X 'body 24 and the Y' body 21, and serves to fixedly support the three-circumference cantilever device.
Further, the displacement sensors 1 are respectively installed on the X ', Y ', Z ' and Z ' bodies 24, 21, 22, and the sensing piece 2 is installed on the sliding base 3, and plays a certain role in adjusting and limiting the displacement in the X ', Y ', Z ' directions.
The dynamic positioning device of the high-intensity focused ultrasound treatment system adopts a flat plate rotating mechanism and a three-circle cantilever device to dynamically position the treatment system. The device can provide small-range rotation in two directions and space movement in an adjustable range, can realize stable operation of the dynamic positioning device in the treatment process, and simultaneously improves the positioning precision.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A dynamic positioning device of a high-intensity focused ultrasound treatment system is characterized by comprising an upper flat plate (8), a middle flat plate (7) and a lower flat plate (19), wherein arch supports (6) are respectively fixed on the middle flat plate (7) and the lower flat plate (19), a support connector (18) is fixed at the lower part of the arch of each arch support (6), and flat plate connectors (9) are respectively arranged at the lower parts of the upper flat plate (8) and the middle flat plate (7);
The flat plate connector (9) of the upper flat plate (8) is connected with the support connector (18) of the middle flat plate (7), the flat plate connector (9) of the middle flat plate (7) is connected with the support connector (18) of the lower flat plate (19) through flat plate rotating mechanisms, the two flat plate rotating mechanisms are identical in structure, and rotating pairs of the two flat plate rotating mechanisms are perpendicular to each other;
the lower flat plate (19) is fixed on the three-circle cantilever device;
the flat plate rotating mechanism comprises a shaft (11), a large gear (14) is fixed on the shaft (11), two ends of the shaft (11) are mounted on the support connecting body (18) through bearings, and the flat plate connecting body (9) is fixedly connected with the shaft (11);
a stepping motor (10) is fixed on the middle flat plate (7) and the lower flat plate (19) through mounting plates (12), a pinion (13) is mounted on an output shaft of the stepping motor (10), and the pinion (13) is meshed with the bull gear (14);
the three-circle cantilever device comprises a connecting arm (20), an X 'main body (24), a Y' main body (21) and a Z 'main body (22), wherein a lower layer flat plate (19) is fixed at the upper end of the connecting arm (20), the lower end of the connecting arm (20) is arranged on a longitudinal sliding groove of the Y' main body (21), the Y 'main body (21) is arranged on a vertical sliding groove of the Z' main body (22), and the Z 'main body (22) is arranged on a transverse sliding groove of the X' main body (24);
Two rectangular grooves are formed in the interference part between the upper flat plate (8) and the arch-shaped support (6);
the gearwheel (14) is fixed with the shaft (11) by a key (15).
2. The dynamic positioning device of the high-intensity focused ultrasound therapy system according to claim 1, characterized in that the lower part of the Z 'body (22) is fixed on the sliding base (3) through a fixing plate (4) and a reinforcing plate (5), and the sliding base (3) is arranged in the transverse sliding slot of the X' body (24).
3. The dynamic positioning device of the high-intensity focused ultrasound therapy system according to claim 1, characterized in that the upper plate (8), the middle plate (7) and the lower plate (19) are made of aluminum alloy.
4. The dynamic positioning device of the high-intensity focused ultrasound therapy system according to claim 1, characterized in that the bracket connector (18) is welded on the arched bracket (6), and the bracket connector (18) is provided with a bearing mounting hole and a bearing end cover (17) and an inner end cover (16).
5. The dynamic positioning device of the high-intensity focused ultrasound therapy system according to claim 1, characterized in that the shaft (11) is rigidly connected with the flat plate connecting body (9).
6. The dynamic positioning device of the high-intensity focused ultrasound therapy system according to claim 1, characterized in that the X 'main body (24), the Y' main body (21) and the Z 'main body (22) are respectively provided with a driving motor, the side surfaces of the chutes of the X' main body (24), the Y 'main body (21) and the Z' main body (22) are respectively provided with a displacement sensor (1), and the corresponding sliding seats are provided with sensing plates (2).
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| CN202010837066.1A CN111956960B (en) | 2020-08-19 | 2020-08-19 | Dynamic positioning device of high-intensity focused ultrasound treatment system |
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| CN202010837066.1A CN111956960B (en) | 2020-08-19 | 2020-08-19 | Dynamic positioning device of high-intensity focused ultrasound treatment system |
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| CN111956960A CN111956960A (en) | 2020-11-20 |
| CN111956960B true CN111956960B (en) | 2022-05-24 |
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| CN117085267A (en) * | 2023-09-04 | 2023-11-21 | 金达威医疗科技(湖南)有限公司 | Focused ultrasonic energy output device |
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| US7120223B2 (en) * | 2002-09-25 | 2006-10-10 | Pencilbeam Technologies | Body-supporting couch |
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| FR1454127A (en) * | 1966-02-04 | 1966-07-22 | Artashes Ervandovich Atovmian | Device for remote irradiation therapy |
| FR2544191A1 (en) * | 1983-04-12 | 1984-10-19 | Thomson Csf | ISOCENTRIC EXPLORATION STATIVE |
| CA2616427A1 (en) * | 2005-07-29 | 2007-02-01 | Chongqing Ronghai Medical Ultrasound Industry Ltd. | Mri guided high-intensity focused ultrasonic therapeutic system |
| WO2008001003A2 (en) * | 2006-06-26 | 2008-01-03 | UNIVERSITE LOUIS PASTEUR (Etablissement Public à Caractère Scientifique, Culturel et Professionnel) | Robotized installation for the positioning and movement of a component or instrument, and treatment apparatus comprising such an installation |
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