CN112569461B

CN112569461B - Pneumatic prostate particle implantation mechanism

Info

Publication number: CN112569461B
Application number: CN202011350074.XA
Authority: CN
Inventors: 张永德; 郭宇航; 刘帅; 刘天麒; 胡孝农; 张新然
Original assignee: Harbin University of Science and Technology
Current assignee: Harbin University of Science and Technology
Priority date: 2020-11-26
Filing date: 2020-11-26
Publication date: 2022-12-27
Anticipated expiration: 2040-11-26
Also published as: CN112569461A

Abstract

The invention relates to a pneumatic prostate particle implantation mechanism, which is applied to the medical field and mainly comprises an outer needle cylinder, an inner needle cylinder, a brake cylinder, a displacement sensor, an inner needle, an outer needle, a cylindrical slideway, a brake mechanism, a radioactive particle supply mechanism and a base. The cylinder is fixed on the cylinder support, the cylinder support is connected on the base, the outer needle is connected with the particle supply block, the outer needle cylinder moves axially to drive the radiation particle supply mechanism, the radiation particle supply mechanism is connected with the outer needle, axial feed motion of the outer needle is achieved, the inner needle cylinder is connected with the movable sliding block, the inner needle cylinder pushes the sliding block, the sliding block drives the inner needle to move axially, the inner needle penetrates through the radiation particle supply module to enter the outer needle, implantation of radiation particles is achieved, the brake cylinder is connected with the brake pad, and locking and loosening of a brake are achieved through action of the brake cylinder. The invention has simple structure, high precision, high needle insertion speed, less pollution to operating room and easy acquisition of transmission medium.

Description

Pneumatic prostate particle implantation mechanism

Technical Field

The invention belongs to the field of prostate radiation particle implantation puncture surgery, and is used for replacing a doctor to perform puncture work in the prostate radiation particle implantation surgery.

Background

The prostate cancer is one of the most main cancers of men in China, has extremely high mortality rate, seriously threatens the health of vast men, has an upward trend along with the development of society and the improvement of the quality of living standard of people in recent years, has the main reason of being caused by aging of the population in China and excessive intake of animal protein and fat, and has great threat to the life health safety of patients, so the prostate cancer is clinically and early treated.

The treatment of prostate cancer by radiation particle implantation is a new technology developed in recent years, and the radiation particle implantation treatment between malignant tumors has small influence on surrounding normal tissues, has good treatment effect, and is widely applied in clinic. The defect of traditional manual operation has been avoided in the appearance of prostate particle implanter, has improved the precision that the radiation particle was implanted, has promoted the stability of outer needle implantation in-process and has realized the ability of implanting the radiation particle in succession, and current radiation particle implanter is comparatively slow at implantation process speed, causes the misery for patient easily at outer needle implantation in-process to can bring extra injury to normal tissue around the outer needle route, the operation cycle is longer relatively simultaneously.

Disclosure of Invention

Aiming at the problems, the invention provides a pneumatic prostate particle implantation mechanism, which utilizes the rapid needle insertion and accurate positioning of the pneumatic prostate particle implantation mechanism to replace the puncture work of a doctor for completing the prostate particle implantation operation, has the advantages of high needle insertion speed, accurate operation and small pollution to the operation environment, and can overcome the defects of unstable manual operation, low efficiency, low accuracy and high strength.

The basic technical scheme is as follows:

the invention is realized by the following steps: the invention relates to a pneumatic prostate particle implantation mechanism and a using method thereof.

Preferably, the outer needle cylinder is fixed on the base through an outer needle cylinder fixing frame I and an outer needle cylinder fixing frame II, the outer needle cylinder drives the radiation particle supply mechanism through an outer needle cylinder connecting rod to realize the feeding of an outer needle, the displacement of the feeding of the outer needle cylinder is measured through a linear displacement sensor, when a piston rod of the outer needle cylinder reaches a preset target position, the cylinder servo valve is controlled through a PLC (programmable logic controller), the air inlet is cut off, the outer needle cylinder brakes, the brake cylinder acts at the same time, the brake pad I and the brake pad II lock the piston rod of the outer needle cylinder to realize the accurate positioning of the feeding of the outer needle cylinder, the inner needle cylinder pushes the movable sliding block, the movable sliding block slides on the cylindrical track I and the cylindrical track II to drive the inner needle, and the inner needle passes through the inner needle guide plate to enter a slide chamber in the radiation particle supply mechanism.

Preferably, brake cylinder fix on brake cylinder link, brake cylinder is articulated with brake connecting rod I and brake connecting rod II, brake connecting rod I is articulated with brake block I, brake connecting rod II is articulated with brake block II, brake block I and brake block II articulate on the brake block support, the brake block support passes through the screw connection on the base.

Preferably, the method is characterized in that: the radiation-proof lead plate is inserted into a lead plate groove of the shell, two plate taking grooves I and two plate taking grooves II are formed in the shell, a spring support I is connected to an upper end cover through threads, a spring support II is connected to the upper end cover through threads, a spring I is sleeved on the spring support I, a spring II is sleeved on the spring support II, a radiation particle pressing plate is sleeved on the spring support I and the spring support II, the spring I and the spring II abut against a radiation particle pressing plate, a square foot of the spring support I is aligned to a square hole I in the shell, a square foot of the spring support II is aligned to a square hole II in the shell, radiation particles are placed into the radiation particle groove, the radiation particles enter a slide chamber, a square foot of the spring support II is aligned to a square hole in the shell, the surfaces of the clamping block I and the clamping block II, which are provided with semicircular grooves, an outer needle is placed into the grooves of the clamping block I and the clamping block II, the front end cover moves towards the axial direction through thread rotation, a T-shaped rod is installed on a rotating handle through threads, the rotating handle is installed on the upper end cover, the rotating handle through screwing, the T-shaped rod is matched with the semicircular end cover, and the semicircular clamping groove is fixed.

Preferably, the slide way hole I of the radioactive particle supply mechanism is in shaft hole clearance fit with the cylindrical rail I, the slide way hole II of the radioactive particle supply mechanism is in shaft hole clearance fit with the cylindrical rail II, the slide way hole III of the movable slide block is in shaft hole clearance fit with the cylindrical rail I, and the slide way hole IV of the movable slide block is in shaft hole clearance fit with the cylindrical rail II.

Preferably, the outer needle is a hollow needle, the inner needle is a solid needle, and the inner needle pushes the radioactive seeds to move in the outer needle, so that the radioactive seeds are accurately implanted.

The invention has the beneficial effects that:

the invention relates to a pneumatic prostate particle implantation mechanism, which is used for realizing the implantation of an outer needle and an inner needle through an outer needle cylinder and an inner needle cylinder, can realize quick and accurate needle insertion by using the cylinders and reduces additional damage to patients.

When the outer needle cylinder stops admitting air, the outer needle cylinder brakes, and meanwhile, the brake cylinder drives the brake block I and the brake block II to lock the piston rod of the outer needle cylinder, so that the accurate positioning of the outer needle feeding is realized.

The air is used as a working medium, the air is easy to obtain and convenient to process, the working medium is directly discharged into the atmosphere after being used, the environment of an operating room is not polluted, an air return pipeline is not needed to be arranged, the manufacturing cost is reduced, the maintenance in the later period is convenient, the adaptability of the working environment of the air cylinder is good, the air cylinder can normally operate in the operating environment with radiation and strong magnetism, the normal operation of other equipment is not interfered, and the use flexibility of the operating equipment is improved.

The casing of radiation particle feed mechanism is all around made the fluting design, can be used to insert the lead plate of protecting against radiation, prevent that the radiation from causing extra injury to doctor and patient, and be equipped with two on the casing and get board groove I and get board groove II, make things convenient for the left and right sides to protect against radiation the lead plate insert and take out, the outer needle of the front end of casing step up and fixing device, take to press from both sides tight piece I and press from both sides tight piece II and front end housing and form wedge-shaped cooperation, make outer needle centering, improve the implantation precision of the outer needle of radiation particle.

The movable sliding block and the radioactive particle supply mechanism move on the cylindrical track, so that the operation stability is high, the radial fluctuation of the outer needle is reduced, and the success rate of the operation is improved.

Drawings

For the purpose of illustration, the invention is described in detail below with reference to the following detailed description and the accompanying drawings. The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a general schematic diagram of the structure of the present invention.

Fig. 2 is a front bottom view of the structure of the present invention.

FIG. 3 is a sectional view of the radioactive particle supply mechanism of the present invention.

FIG. 4 is a schematic view of the locking mechanism of the upper end cap of the present invention.

FIG. 5 is a schematic view of a clamping block of the present invention.

FIG. 6 is a schematic view showing the fixation of an outer needle of the radioactive particle supply mechanism of the present invention.

Fig. 7 is a top view of the housing of the present invention.

Fig. 8 is a front view of the housing of the present invention.

FIG. 9 is a schematic view of the movable block of the present invention.

In the above drawings: 1. the brake comprises a base, 2 parts of an outer needle cylinder fixing frame I, 3 parts of an outer needle cylinder fixing frame II, 4 parts of an outer needle cylinder, 5 parts of a linear displacement sensor, 6 parts of a brake mechanism, 6-1 parts of a brake cylinder, 6-2 parts of a brake cylinder connecting frame, 6-3 parts of a brake connecting rod I, 6-4 parts of a brake connecting rod II, 6-5 parts of a brake pad I, 6-6 parts of a brake pad II, 6-7 parts of a brake pad support 7, outer needle cylinder connecting rod, 8, cylinder connecting plate, 9, outer needle guide plate, 10, radioactive particle supply mechanism, 10-1, shell, 10-2, upper end cover, 10-3, rotary handle, 10-4. T-shaped rod, 10-5, spring I, 10-6, spring II, 10-7, spring support I, 10-8, spring support II, 10-9, radioactive particle pressing plate 10-10 radiation-proof lead plate, 10-11 radioactive particles, 10-12 clamping blocks I, 10-13 clamping blocks II, 10-14 front end cover, 10-15 lead plate groove, 10-16 semicircular groove, 10-17 square hole I, 10-18 square hole II, 10-19 locking clamping groove, 10-20 slide way hole I, 10-21 slide way hole II, 10-22 plate taking groove I, 10-23 plate taking groove II, 10-24 slide way, 11 outer needle, 12 cylindrical rail support frame I, 13 cylindrical rail support frame II, 14 cylindrical rail support frame III, 15 cylindrical rail support frame IV, 16 cylindrical rail I, 17 cylindrical rail II, 18 inner needle cylinder support frame I, 19 inner needle cylinder support frame II, 20. Inner needle cylinder, 21, moving slide block, 22, inner needle, 23, inner needle guide plate.

Detailed Description

In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and with reference to the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

The first specific implementation way is as follows:

as shown in fig. 1 to 9, the embodiment of the present invention adopts the following technical solutions; pneumatic prostate particle implantation mechanism includes: 1. the device comprises a base, 2, an outer needle cylinder fixing frame I, 3, an outer needle cylinder fixing frame II, 4, an outer needle cylinder, 5, a linear displacement sensor, 6, a brake mechanism, 7, an outer needle cylinder connecting rod, 8, a cylinder connecting plate, 9, an outer needle guide plate, 10, a radioactive particle supply mechanism, 11, an outer needle, 12, a cylindrical rail support frame I, 13, a cylindrical rail support frame II, 14, a cylindrical rail support frame III, 15, a cylindrical rail support frame IV, 16, a cylindrical rail I, 17, a cylindrical rail II, 18, an inner needle cylinder fixing frame I, 19, an inner needle cylinder fixing frame II, 20, an inner needle cylinder, 21, a movable sliding block, 22, an inner needle and 23, and an inner needle guide plate. Further, the 6-brake mechanism comprises 6-1 brake cylinder, 6-2 brake cylinder connecting frame, 6-3 brake connecting rods I and 6-4 brake connecting rods II and 6-5 brake pads I and 6-6 brake pads II and 6-7 brake pad support, the displacement amount of the feeding of the outer needle cylinder 4 is obtained through the linear displacement sensor 5, when the piston rod of the outer needle cylinder reaches a preset target position, the air inlet is cut off, the outer needle cylinder 4 brakes, and the brake cylinder 6-1 acts at the same time, so that the accurate positioning of the feeding of the outer needle cylinder 4 is realized. Further, the radioactive particle supply mechanism 10 comprises a shell 10-1, an upper end cover 10-2, a rotary handle 10-3, a T-shaped rod 10-4, a spring I10-5, a spring II 10-6, a spring support I10-7, a spring support II 10-8, a spring support II 10-9, a radioactive particle pressing plate 10-10, a radiation-proof lead plate 10-11, radioactive particles 10-12, a clamping block I10-13, a clamping block II 10-14 and a front end cover, and the radioactive particle supply mechanism 10 can reduce additional damage of radiation to doctors and patients, can achieve rapid supply of the radioactive particles, guarantees continuity of surgery and reduces surgery period.

The second embodiment is as follows:

the apparatus according to embodiment one. Filling radioactive particles 10-11 into a radioactive particle groove 10-19, vertically inserting a radiation-proof lead plate 10-10 into a lead plate groove 10-15, aligning a square foot of a spring support I10-7 and a square foot of a spring support II 10-8 with a square hole 10-17 on a shell 10-1, vertically pressing downwards, rotating a rotating handle 10-3 when the upper surface of the shell 10-1 is contacted with an upper end cover 10-2, driving a T-shaped rod 10-4 by the rotating handle 10-3, matching the T-shaped rod 10-4 with a locking clamping groove 10-19 on the shell 10-1, and realizing locking the upper end cover 10-2 and compressing the radioactive particles 10-11; the clamping block I10-7 and the clamping block II 10-8 are placed in a boss of the shell body 10-1, the outer needle 11 penetrates through an outer needle guide plate 9 and is inserted into semicircular grooves 10-16 of the clamping block I10-7 and the clamping block II 10-8, a front end cover 10-14 is screwed, and the outer needle 11 is fixed; the PLC controls the servo valve to further control the feeding amount of the air cylinder, the outer needle air cylinder piston rod drives the linear displacement sensor 5, when the outer needle piston rod moves to a preset target position, the PLC controls the servo valve to cut off air, meanwhile, the brake air cylinder 6-1 acts to pull the brake block I6-5 and the brake block II 6-6, so that the outer needle piston rod stops at the target position, and accurate displacement control is achieved; when the outer needle 11 reaches a target position, the PLC controls the proportional servo valve to intake air, the displacement of the inner needle is controlled by controlling the air inflow of the proportional servo valve, the inner needle cylinder 20 moves to move axially to push the movable slide block 21, the movable slide block 21 drives the inner needle 22 to move axially, the inner needle 22 penetrates through the inner needle guide plate 23 and enters the slide chamber 10-24 of the radioactive particle supply mechanism 10, and the inner needle 22 pushes the radioactive particles 10-11 to enter the outer needle 11, so that the radioactive particles 10-11 are pushed to a target focus area along the outer needle 11, and the implantation of the radioactive particles 10-11 is completed.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. Pneumatic type prostate particle implantation mechanism, its constitution includes: base (1), outer needle cylinder mount I (2), outer needle cylinder mount II (3), outer needle cylinder connecting rod (7), cylinder connecting plate (8), cylinder track support frame I (12), cylinder track support frame II (13), cylinder track support frame III (14), cylinder track support frame IV (15), inner needle cylinder mount I (18) and inner needle cylinder mount II (19), its characterized in that: comprises an outer needle cylinder (4), a linear displacement sensor (5), a brake mechanism (6), an outer needle guide plate (9), a radioactive particle supply mechanism (10), an outer needle (11), a cylindrical track I (16), a cylindrical track II (17), an inner needle cylinder (20), a movable slide block (21), an inner needle (22) and an inner needle guide plate (23), wherein the brake mechanism (6) comprises a brake cylinder (6-1), a brake cylinder connecting frame (6-2), a brake connecting rod I (6-3), a brake connecting rod II (6-4), a brake block I (6-5), a brake block II (6-6) and a brake block support assembly (6-7), the radioactive particle supply mechanism (10) comprises a shell (10-1), an upper end cover (10-2), a rotating handle (10-3), a T-shaped rod (10-4), a spring I (10-5), a spring II (10-6), a spring support I (10-7), a spring support II (10-8), a radioactive particle pressing plate (10-9), a radiation-proof lead plate (10-10), radioactive particles (10-11), a clamping block I (10-12), a clamping block II (10-13), the front end cover (10-14) is composed, an outer needle cylinder fixing frame I (2) is arranged in the middle of a base (1) through screws, an outer needle cylinder fixing frame II (3) is arranged at the rear end of the base (1) through screws, an outer needle cylinder (4) is connected with the outer needle cylinder fixing frame I (2) and the outer needle cylinder fixing frame II (3), a linear displacement sensor (5) is arranged at the front ends of the outer needle cylinder fixing frame I (2) and an outer needle cylinder piston rod, the outer needle cylinder piston rod penetrates through a brake mechanism (6), the brake mechanism (6) is connected with the base (1) through screws, the outer needle piston rod is connected with an outer needle cylinder connecting rod (7) through bolts, one end of a cylinder connecting plate (8) is connected with the outer needle cylinder piston rod through bolts, the other end of the cylinder connecting rod (7) is connected with bolts, an outer needle guide plate (9) is connected with a radiation particle supply end of the base (1) through screws, the outer needle cylinder connecting rod (7) is connected with a radiation particle supply mechanism (10) through screws, the radiation particle supply mechanism (10) and a fastening fixing device (11) through an outer needle guide rail (11), the outer needle cylinder support frame (1) is fixed at the output end of a cylindrical needle cylinder support frame (1) through a screw (13), a cylindrical track support frame III (14) is fixed at a radiation particle supply end of a base (1) through screws, a cylindrical track support frame IV (15) is fixed at a power supply output end of the base (1) through screws, a cylindrical track I (16) is connected with a cylindrical track support frame I (12) and a cylindrical track support frame II (13), a cylindrical track II (17) is connected with the cylindrical track support frame III (14) and the cylindrical track support frame IV (15), a radiation particle supply mechanism (10) slides on the cylindrical track I (16) and the cylindrical track II (17), an inner needle cylinder fixing frame I (18) is connected at the rear end of the base (1) through screws, an inner needle cylinder fixing frame II (19) is connected at the rear end of the base (1) through screws, an inner needle cylinder (20) is fixed on the inner needle cylinder fixing frame I (18) and the inner needle cylinder fixing frame II (19), an inner needle cylinder piston rod is connected with a movable sliding block (21), the movable sliding block (21) is matched with the cylindrical track I (16) and the cylindrical track II (17), the movable sliding block (21) is connected with an inner needle cylinder (22), a guide plate (23) is connected with a radiation particle guide plate (10) which passes through a guide plate (23), and a radiation particle guide plate (10) is accurately inserted into a radiation-emitting needle guide plate (10), a plate taking groove I (10-22) and a plate taking groove II (10-23) are arranged on the shell (10-1), a spring support I (10-7) is connected on an upper end cover (10-2) through threads, a spring support II (10-8) is connected on the upper end cover (10-2) through threads, a spring I (10-5) is sleeved on the spring support I (10-7), a spring II (10-6) is sleeved on the spring support II (10-8), a radioactive particle pressing plate (10-9) is sleeved on the spring support I (10-7) and the spring support II (10-8), the spring I (10-5) and the spring II (10-6) are abutted against the radioactive particle pressing plate (10-9), the square foot of the spring support I (10-7) is aligned to the square hole I (10-17) on the shell (10-1), the square foot of the spring support II (10-8) is aligned to the square hole II (10-18) on the shell (10-1), radioactive particles (10-11) enter the square hole II (10-11) of the spring support II (10-8) and slide into the radiation particle pressing plate (10-8), the clamping block I (10-12) and the clamping block II (10-13) are oppositely placed into a boss of the shell (10-1) through surfaces with semicircular grooves (10-16), the outer needle is placed into the clamping block I (10-12) and the semicircular grooves (10-16) of the clamping block II (10-13), the front end cover (10-14) moves towards the axial direction through threaded rotation, the T-shaped rod (10-4) is installed on the rotating handle (13-3) through threads, the rotating handle (10-3) is installed on the upper end cover (10-2), the T-shaped rod (10-4) is driven by screwing the rotating handle (10-3), the T-shaped rod (10-4) is matched with the locking clamping groove (10-19), and the upper end cover (10-2) is fixed.

2. The pneumatic prostate pellet implantation mechanism of claim 1, wherein: brake cylinder (6-1) fix on brake cylinder link (6-2), brake cylinder (6-1) and brake connecting rod I (6-3) and brake connecting rod II (6-4) are articulated, brake connecting rod I (6-3) and brake block I (6-5) are articulated, brake connecting rod II (6-4) and brake block II (6-6) are articulated, brake block I (6-5) and brake block II (6-6) articulate on brake block support (6-7), brake block support (6-7) pass through the screw connection on base (1).

3. The pneumatic prostate particle implantation mechanism of claim 1, wherein: a slide way hole I (10-20) of the radioactive particle supply mechanism (10) is in clearance fit with a cylindrical rail I (16) from axis to hole, a slide way hole II (10-21) of the radioactive particle supply mechanism (10) is in clearance fit with a cylindrical rail II (17) from axis to hole, a slide way hole III of the movable slide block (21) is in clearance fit with the cylindrical rail I (16) from axis to hole, and a slide way hole IV of the movable slide block (21) is in clearance fit with the cylindrical rail II (17) from axis to hole.

4. The pneumatic prostate pellet implantation mechanism of claim 1, wherein: the outer needle (11) is a hollow needle, the inner needle (22) is a solid needle, and the inner needle (22) pushes the radiation particles (10-11) to move in the outer needle (11), so that the radiation particles (10-11) are accurately implanted.