CN112691286A - Hand-simulated prostate particle implantation robot and use method thereof - Google Patents
Hand-simulated prostate particle implantation robot and use method thereof Download PDFInfo
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- CN112691286A CN112691286A CN202011595189.5A CN202011595189A CN112691286A CN 112691286 A CN112691286 A CN 112691286A CN 202011595189 A CN202011595189 A CN 202011595189A CN 112691286 A CN112691286 A CN 112691286A
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
- A61N2005/101—Magazines or cartridges for seeds
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Abstract
A hand-simulated prostate particle implantation robot and a use method thereof belong to the technical field of medical equipment. The invention solves the problems that the existing robot for implanting the prostate radioactive particles is difficult to realize flexible multi-posture needle insertion task requirements and cannot perform flexible obstacle avoidance tasks. A single-dimensional force sensor and a displacement sensor are installed on the motion mechanism, a six-dimensional force sensor is installed between the particle implantation mechanism and the tail end of the humanoid hand mechanical arm, and the movement of the humanoid arm is carried out through the first motion mechanism, the second motion mechanism, the third motion mechanism and the fourth motion mechanism; the puncture assembly is fixedly connected with the fourth movement mechanism through a main support, and the inner needle assembly is positioned between the puncture assembly and the fourth movement mechanism and is arranged in a sliding manner along the length direction of the main support; the rear end of the puncture needle is inserted in the particle implantation bin and is arranged opposite to the particle outlet on the particle clip; the inner needle and the puncture needle are arranged coaxially, and during the implantation of the radioactive seeds, the inner needle moves towards the front end and passes through the puncture needle to send the radioactive seeds to a target position.
Description
Technical Field
The invention relates to a hand-simulated prostate particle implantation robot and a use method thereof, belonging to the technical field of medical equipment.
Background
Prostate cancer is one of the high-grade malignant tumors in men, and the incidence rate is increased year by year. At present, the treatment of prostate cancer mainly adopts a percutaneous targeted puncture intervention method, and the implantation operation of prostate radioactive particles is completed manually by a doctor or by a robot. However, due to the uncertainty of manual operation, the positioning accuracy is difficult to ensure, which not only results in improper implantation of radioactive particles, but also causes large trauma to soft tissues, thereby affecting the treatment effect.
The robot for implanting radioactive seeds for treating prostate mainly takes a Cartesian coordinate structure as a main part, generally can complete the adjustment of needle inserting positions in three spatial directions and realize the three-dimensional spatial movement of an implanting needle, but the robot structure adopted in the prior art is difficult to realize the flexible multi-posture needle inserting task requirement and cannot perform the flexible obstacle avoidance task.
Therefore, it is necessary to design a target puncture needle with high accuracy, less puncture times, flexible and reliable structure, simple operation, safety and efficiency to assist the doctor to complete the operation of the patient.
Disclosure of Invention
The invention aims to solve the problems that the existing robot for implanting prostate radioactive seeds is difficult to realize flexible multi-posture needle insertion task requirements and cannot perform flexible obstacle avoidance tasks in the operation process, and further provides a human hand-simulated prostate particle implantation robot and a using method thereof.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a human-hand-simulated prostate particle implantation robot comprises a mounting frame, a human-simulated mechanical arm which is vertically and slidably mounted on the mounting frame, and a particle implantation mechanism mounted at the tail end of the human-simulated mechanical arm, wherein the human-simulated mechanical arm comprises first to fourth movement mechanisms which are sequentially hinged, each movement mechanism is provided with a one-dimensional force sensor and a displacement sensor, a six-dimensional force sensor is mounted between the particle implantation mechanism and the tail end of the human-simulated mechanical arm, and the first to fourth movement mechanisms perform human-simulated arm actions;
the particle implantation mechanism comprises a main support, a puncture assembly and an inner needle assembly, wherein the puncture assembly is fixedly connected with the fourth movement mechanism through the main support, and the inner needle assembly is positioned between the puncture assembly and the fourth movement mechanism and is arranged in a sliding manner along the length direction of the main support;
the puncture assembly comprises a particle implantation bin fixedly arranged at the front part of the main support, a particle clip inserted on the particle implantation bin, a front end cover fixedly arranged at the front end of the main support and a puncture needle rotatably penetrated in the front end cover, wherein the rear end of the puncture needle is inserted in the particle implantation bin and is arranged opposite to a particle outlet on the particle clip;
the inner needle assembly comprises an inner needle which is arranged in a rotating mode around the axial direction of the inner needle assembly, the inner needle and the puncture needle are arranged coaxially, and in the process of implanting the radioactive seeds, the inner needle moves towards the front end and penetrates through the puncture needle to send the radioactive seeds to a target position.
Furthermore, two lead screws are arranged on two sides of the main support in parallel and rotatably, the end part of each lead screw is driven by a first driving motor fixedly arranged on two sides of the main support, the inner needle assembly is slidably arranged on the main support through a mounting plate, and the mounting plate is in threaded connection with the two lead screws.
Furthermore, the puncture assembly further comprises a hollow shaft stepping motor, a puncture needle shaft cylinder, a puncture needle chuck and a mounting support, the particle implantation bin is fixedly connected with the front end cover through the mounting support, the hollow shaft stepping motor is fixedly mounted between the front end cover and the mounting support, the puncture needle is fixedly mounted in the puncture needle shaft cylinder through the puncture needle chuck, the puncture needle shaft cylinder is in key connection with the puncture needle shaft cylinder through a hollow shaft of the hollow shaft stepping motor, and the puncture needle sequentially penetrates through the puncture needle chuck and the hollow shaft stepping motor to enter the particle implantation bin.
Furthermore, a particle implantation front guide rod is inserted in the particle implantation bin, the particle cartridge clip is inserted in the particle implantation front guide rod, and the puncture needle is inserted in the particle implantation front guide rod and is butted with a particle outlet of the particle cartridge clip.
Furthermore, the inner needle assembly further comprises a second driving motor, an inner needle shaft cylinder and an inner needle chuck, wherein the second driving motor is fixedly arranged on the mounting plate, the inner needle is fixedly arranged in the inner needle shaft cylinder through the inner needle chuck, and the inner needle shaft cylinder is in key connection with the second driving motor.
Furthermore, a limit stop is fixedly arranged at the bottom end of the mounting plate, and limit switches are respectively arranged at the front part and the rear part of the bottom end of the main support.
Furthermore, the first movement mechanism comprises a first electric cylinder and a first connecting support, the second movement mechanism comprises a second electric cylinder and a second connecting support, the third movement mechanism comprises a third electric cylinder and a third connecting support, and the fourth movement mechanism comprises a fourth electric cylinder and a fourth connecting support, wherein the first connecting support is of a cantilever beam structure, the humanoid mobile phone mechanical arm is vertically and slidably mounted on the mounting frame through the first connecting support, the second connecting support is positioned below the first connecting support and hinged with one end of the first connecting support, the third connecting support is positioned below the second connecting support and hinged with one end of the second connecting support, one end of the fourth connecting support is hinged with the lower part of the third connecting support, and the other end of the fourth connecting support is hinged with a wrist connecting rod; the fixed end and the movable end of the first electric cylinder are respectively hinged below the first connecting support and below the second connecting support, the fixed end and the movable end of the second electric cylinder are respectively hinged on the second connecting support and on the upper part of the third connecting support, the fixed end and the movable end of the third electric cylinder are respectively hinged on the third connecting support and on one end of the fourth connecting support, and the fixed end and the movable end of the fourth electric cylinder are respectively hinged on the fourth connecting support and on the wrist connecting rod.
Furthermore, in every motion, the expansion end of electronic jar is equipped with the connector admittedly, single dimension force transducer adorns admittedly between the expansion end of electronic jar and the connector, displacement sensor is pull rod formula linear displacement sensor, just displacement sensor passes through the mount and adorns admittedly on the cylinder body of electronic jar, and the link is equipped with admittedly between single dimension force transducer and the expansion end of electronic jar, and displacement sensor's pull rod and link rigid coupling.
Further, the mounting bracket comprises a horizontally arranged mounting base, two sliding tables which are arranged in parallel and vertically and fixedly mounted on the mounting base, the humanoid hand mechanical arm further comprises a connecting plate, two end parts of the connecting plate are respectively mounted on the sliding blocks of the two sliding tables, and the other end part of the first connecting support is fixedly connected with the connecting plate.
A use method of the human-hand-simulated prostate particle implantation robot comprises the following steps:
firstly, a patient lies on an operating bed in a lithotomy position, and the perineum part is disinfected and anesthetized; fixing a mounting frame on an operating table, placing radioactive particles 125I into a particle clip and inserting the radioactive particles into a particle implantation bin under a preoperative sealed environment, and enabling the needle point of an outer needle of a particle implantation mechanism to reach the perineum by adjusting the height position of a human-simulated mechanical arm on the mounting frame and the joint positions of arms of the human-simulated mechanical arm according to target point images acquired by TRUS, MRI and CT by a doctor, so as to keep the optimal needle inserting posture and complete preoperative preparation work;
then, the humanoid hand mechanical arm is driven, so that the particle implantation mechanism selects an optimal puncture path according to the acquired target point image, the puncture assembly is driven, the puncture needle is sent to a preset position of a focus point in a rotary needle inserting mode, and through the arrangement of the six-dimensional force sensor, the single-dimensional force sensor and the displacement sensor, the humanoid hand mechanical arm can perform force/position closed-loop control according to the preset puncture position to realize flexible action, and a doctor can perform manual puncture or adjustment according to actual conditions;
then, the inner needle assembly is driven, after the inner needle extends out of the outer needle, the radioactive particles 125I are sent to the target position, and meanwhile, the rotation movement of the inner needle can reduce the friction between the inner needle and the prostate tissue and prevent the particles from being blocked;
and finally, observing the needle position through the TRUS and the MRI image, driving the humanoid hand mechanical arm to withdraw or withdraw the outer needle to the cortex, and adjusting the humanoid hand mechanical arm to enable the particle implantation mechanism to reach the preset puncture position for next particle implantation, thereby realizing the multi-particle implantation task under the condition of least puncture times.
Compared with the prior art, the invention has the following effects:
the particle implantation mechanism adopted in the application, the rotation motion of the inner needle can reduce the friction between the inner needle and the prostate tissue, prevent the particle from being blocked, and ensure that the particle can be smoothly implanted into the appointed focus area.
This application fusion power, displacement sensor, can carry out the construction of multimodal optimization algorithm, realize the gentle and agreeable control of initiative of needle entering motion, when guaranteeing particle implantation needle spatial position accurate positioning, when the needle entering in-process takes place emergency, the doctor can make the judgement according to data information's change condition, take the scram, and simultaneously, when patient's health takes place the aversion suddenly, can accomplish power position hybrid control, realize implanting the needle and make the adjustment along with the change of patient position gesture, improve the security and the reliability of operation.
Adopt imitative people's cell-phone arm structure, through the single-dimensional force transducer and the displacement sensor of installation on every motion, can do power/position closed loop control, so have certain compliance, can accomplish many gestures, the requirement of multi-angle needle insertion, can make the implantation needle when not withdrawing from external operation, adjust the particle implantation route, not only reduce the puncture number of times, save the needle of trading midway, realize a little more needle, and alleviateed patient's operation wound, the treatment effect has been strengthened, simultaneously, the doctor can adopt manual puncture or manual regulation according to actual conditions, and need not the deflector, help the doctor to accomplish the operation to the disease effectively, alleviate the fatigue strength of doctor operation, reduce operation wound, practice thrift the operation time, improve operation safety.
Drawings
FIG. 1 is a schematic perspective view of the present application;
FIG. 2 is a schematic top view of the present application;
FIG. 3 is a schematic front view of the mounting bracket;
FIG. 4 is a schematic perspective view of a humanoid hand mechanical arm;
fig. 5 is an exploded schematic view of the electric cylinder;
FIG. 6 is a schematic view of a first three-dimensional structure of the mechanism for implanting particles;
FIG. 7 is a second perspective view of the mechanism for implanting particles;
FIG. 8 is an exploded view of the spike assembly;
fig. 9 is an exploded view of the inner needle assembly.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 9, and a human-hand-simulated prostate particle implantation robot includes a mounting frame 1, a human-simulated mechanical arm 2 mounted on the mounting frame 1 in a vertically sliding manner, and a particle implantation mechanism 3 mounted at the end of the human-simulated mechanical arm 2, wherein the human-simulated mechanical arm 2 includes first to fourth movement mechanisms that are hinged in sequence, each movement mechanism is provided with a one-dimensional force sensor 2-6-3 and a displacement sensor 2-6-5, a six-dimensional force sensor 2-12 is mounted between the particle implantation mechanism 3 and the end of the human-simulated mechanical arm 2, and the first to fourth movement mechanisms perform human-simulated arm movements;
the particle implantation mechanism 3 comprises a main bracket 3-1, a puncture component 3-7 and an inner needle component 3-4, wherein the puncture component 3-7 is fixedly connected with the fourth movement mechanism through the main bracket 3-1, and the inner needle component 3-4 is positioned between the puncture component 3-7 and the fourth movement mechanism and is arranged in a sliding manner along the length direction of the main bracket 3-1;
the puncture component 3-7 comprises a particle implantation bin 3-7-2 fixedly mounted at the front part of the main support 3-1, a particle cartridge clip 3-7-3 inserted and mounted on the particle implantation bin 3-7-2, a front end cover 3-7-7 fixedly mounted at the front end of the main support 3-1 and a puncture needle 3-7-11 rotatably mounted in the front end cover 3-7-7, wherein the rear end of the puncture needle 3-7-11 is inserted and mounted in the particle implantation bin 3-7-2 and is arranged opposite to a particle outlet on the particle cartridge clip 3-7-3;
the inner needle assembly 3-4 comprises an inner needle 3-4-5 which is arranged in a rotating mode around the self axial direction, the inner needle 3-4-5 and the puncture needle 3-7-11 are arranged coaxially, and in the process of implanting the radioactive seeds, the inner needle 3-4-5 moves towards the front end and sends the radioactive seeds to a target position through the puncture needle 3-7-11.
The implant magazine 3-7-2 is prior art and will not be described in detail here. Two through holes which are coaxially arranged are formed in the lower part of the particle implantation bin 3-7-2, wherein one through hole is the particle outlet, and in the working process, the inner needle 3-4-5 sequentially penetrates through the two through holes to push the particles to the puncture needle 3-7-11, and finally the particles are sent to a target position.
The puncture needle 3-7-11 is a hollow needle, and the inner needle 3-4-5 is a solid needle.
The power of the first to fourth motion mechanisms is mainly realized by electric cylinders, namely, each motion mechanism is provided with one electric cylinder, and the electric cylinders have the same structure.
The first to fourth motion mechanisms correspond to the shoulder, the big arm, the small arm and the wrist of the human arm in sequence.
The six-dimensional force sensor 2-12 is fixedly connected to the tail end of the humanoid hand mechanical arm 2 through a screw and used for collecting force data of the particle implantation mechanism 3.
The rear end of the particle implantation bin 3-7-2 is provided with a plurality of inner needle supporting guide rods 3-7-1 for supporting the inner needles 3-4-5 to do translational motion.
According to the preset puncture position, six-dimensional force sensors 2-12 are arranged at the tail end of the humanoid hand mechanical arm 2, and single-dimensional force sensors 2-6-3 and displacement sensors 2-6-5 are arranged on each motion mechanism, so that force/position closed-loop control can be performed, certain flexibility is achieved, and doctors can puncture or adjust manually according to actual conditions.
This application realizes five degrees of freedom series structures through upper and lower slidable mounting in the imitative people's cell-phone arm 2 on mounting bracket 1, compares in cartesian coordinate structure, parallel structure and RRR series structure, has nimble motion form, wide workspace and the route of inserting the needle of many gestures, and it is more convenient to operate.
The particle implantation mechanism 3 and the inner needle 3-4-5 adopted in the application can reduce the friction between the inner needle 3-4-5 and the prostate tissue, prevent the particles from being blocked and ensure that the particles can be smoothly implanted into the appointed focus area.
The fusion force and displacement sensor 2-6-5 can be used for constructing a multi-mode optimization algorithm, active compliance control of needle insertion movement is achieved, accurate positioning of the spatial position of a particle implantation needle is guaranteed, when an emergency occurs in the needle insertion process, a doctor can make judgment according to the change situation of data information, emergency stop is adopted, and meanwhile, when the body of a patient suddenly shifts, force and position hybrid control can be completed, the implantation needle can be adjusted along with the change of the posture of the patient, and the safety and reliability of an operation are improved.
The hand-operated manipulator 2 structure of the humanoid hand is adopted, and the force/position closed-loop control can be performed through the single-dimensional force sensors 2-6-3 and the displacement sensors 2-6-5 which are arranged on each motion mechanism, so that the hand-operated manipulator has certain flexibility, the requirements of multi-posture and multi-angle needle insertion can be met, the particle implantation path can be adjusted when the implantation needle does not exit the external operation, the puncture frequency is reduced, needle replacement midway is omitted, a little more needles are realized, the surgical trauma of a patient is relieved, the treatment effect is enhanced, meanwhile, a doctor can perform manual puncture or manual adjustment according to the actual situation, a guide plate is not needed, the doctor is effectively assisted to complete the surgical operation on the patient, the fatigue strength of the surgical operation of the doctor is relieved, the surgical trauma is reduced, the surgical time is saved, and the surgical safety is improved.
Two lead screws 3-5 are rotatably and parallelly arranged on two sides of the main support 3-1, the end part of each lead screw 3-5 is correspondingly driven by a first driving motor 3-13 fixedly arranged on two sides of the main support 3-1, the inner needle assembly 3-4 is slidably arranged on the main support 3-1 through a mounting plate 3-4-1, and the mounting plate 3-4-1 is in threaded connection with the two lead screws 3-5.
The puncture component 3-7 also comprises a hollow shaft stepping motor 3-7-6, a puncture needle shaft barrel 3-7-9, a puncture needle chuck 3-7-10 and a mounting bracket 3-7-5, the particle implantation bin 3-7-2 is fixedly connected with the front end cover 3-7-7 through the mounting bracket 3-7-5, the hollow shaft stepping motor 3-7-6 is fixedly arranged between the front end cover 3-7-7 and the mounting bracket 3-7-5, the puncture needle 3-7-11 is fixedly arranged in the puncture needle shaft barrel 3-7-9 through the puncture needle chuck 3-7-10, the puncture needle shaft barrel 3-7-9 and the hollow shaft of the hollow shaft stepping motor 3-7-6 are connected with the puncture needle shaft barrel 3-7-9 through a key, the puncture needle 3-7-11 sequentially passes through the puncture needle chuck 3-7-10 and the hollow shaft stepping motor 3-7-6 to enter the particle implantation bin 3-7-2. The mounting bracket 3-7-5 and the front end cover 3-7-7 and the mounting bracket 3-7-5 and the particle implantation bin 3-7-2 are fixedly connected through bolts respectively. The puncture needle 3-7-11 is clamped and limited by a puncture needle chuck 3-7-10, and the puncture needle chuck 3-7-10 is arranged at the front part of the puncture needle shaft barrel 3-7-9 in a penetrating way and is locked by a puncture needle chuck fastening bolt. The puncture needle 3-7-11 is driven to rotate by the hollow shaft stepping motor 3-7-6. A first bearing 3-7-8 is arranged between the puncture needle shaft barrel 3-7-9 and the front end cover 3-7-7.
A particle implantation front guide rod 3-7-4 is inserted in the particle implantation bin 3-7-2, the particle cartridge clip 3-7-3 is inserted in the particle implantation front guide rod 3-7-4, and a puncture needle 3-7-11 is penetrated in the particle implantation front guide rod 3-7-4 and is butted with a particle outlet of the particle cartridge clip 3-7-3. The particle implantation front guide rod 3-7-4 is provided with a groove, the particle clip 3-7-3 is inserted in the groove, and then the radioactive particles in the particle clip 3-7-3 are aligned with the needle hole of the puncture needle 3-7-11.
The inner needle assembly 3-4 further comprises a second driving motor 3-4-8, an inner needle shaft barrel 3-4-3 and an inner needle chuck 3-4-4, wherein the second driving motor 3-4-8 is fixedly arranged on the mounting plate 3-4-1, the inner needle 3-4-5 is fixedly arranged in the inner needle shaft barrel 3-4-3 through the inner needle chuck 3-4-4, and the inner needle shaft barrel 3-4-3 is connected with the second driving motor 3-4-8 in a key mode. The inner needle chuck 3-4-4 is arranged in the inner needle shaft barrel 3-4-3 in a penetrating way and is locked by a puncture needle chuck fastening bolt. A second bearing 3-4-6 is arranged between the inner needle shaft barrel 3-4-3 and the mounting plate 3-4-1.
The bottom end of the mounting plate 3-4-1 is fixedly provided with a limit stop 3-4-7, and the front part and the rear part of the bottom end of the main bracket 3-1 are respectively provided with a limit switch 3-9. The limit switch 3-9 is fixedly arranged on the main bracket 3-1 through screws and is used for limiting the translation position of the mounting plate 3-4-1 so as to protect components. The initial position of the mounting plate 3-4-1 in the mechanism for implanting particles 3 is at the position where the limit stopper 3-4-7 coincides with the limit switch 3-9 at the rear.
The first movement mechanism comprises a first electric cylinder 2-15 and a first connecting support 2-2, the second movement mechanism comprises a second electric cylinder 2-6 and a second connecting support 2-5, the third movement mechanism comprises a third electric cylinder 2-8 and a third connecting support 2-7, the fourth movement mechanism comprises a fourth electric cylinder 2-10 and a fourth connecting support 2-9, wherein the first connecting support 2-2 is a cantilever beam structure, the humanoid hand mechanical arm 2 is vertically and slidably mounted on the mounting frame 1 through the first connecting support 2-2, the second connecting support 2-5 is positioned below the first connecting support 2-2 and is hinged with one end of the first connecting support 2-2, the third connecting support 2-7 is positioned below the second connecting support 2-5 and is hinged with one end of the second connecting support 2-5, one end of a fourth connecting support 2-9 is hinged at the lower part of the third connecting support 2-7, and the other end of the fourth connecting support is hinged with a wrist connecting rod 2-11; the fixed end and the movable end of the first electric cylinder 2-15 are respectively hinged below the first connecting support 2-2 and below the second connecting support 2-5, the fixed end and the movable end of the second electric cylinder 2-6 are respectively hinged on the second connecting support 2-5 and the upper part of the third connecting support 2-7, the fixed end and the movable end of the third electric cylinder 2-8 are respectively hinged on the third connecting support 2-7 and one end of the fourth connecting support 2-9, and the fixed end and the movable end of the fourth electric cylinder 2-10 are respectively hinged on the fourth connecting support 2-9 and the wrist connecting rod 2-11. The fixed end of the electric cylinder is one end of the cylinder body of the electric cylinder. Each electric cylinder drives the connecting support at the movable end of the electric cylinder to turn over, and then drives the adjacent electric cylinders to act. A global coordinate system is established at the middle position of the bottom of the mounting frame 1, the vertical position of the first connecting support 2-2 and the second connecting support 2-5 is defined as a flip angle of 0 degree, the acute angle formed by the second connecting support 2-5 and the third connecting support 2-7 is 60 degrees, the fourth connecting support 2-9 is vertical to the third connecting support 2-7, and the angle formed by the fourth connecting support 2-9 and the wrist connecting rod 2-11 is an angle when the particle implantation mechanism 3 keeps the posture level.
In each movement mechanism, a connector 2-6-4 is fixedly installed at the movable end of an electric cylinder, a one-dimensional force sensor 2-6-3 is fixedly installed between the movable end of the electric cylinder and the connector 2-6-4, a displacement sensor 2-6-5 is a pull rod type linear displacement sensor 2-6-5, the displacement sensor 2-6-5 is fixedly installed on a cylinder body of the electric cylinder through a fixing frame, a connecting frame 2-6-2 is fixedly installed between the one-dimensional force sensor 2-6-3 and the movable end of the electric cylinder, and a pull rod of the displacement sensor 2-6-5 is fixedly connected with the connecting frame 2-6-2.
The mounting rack 1 comprises a horizontally arranged mounting base 1-1 and two sliding tables 1-3 which are arranged in parallel and vertically and fixedly mounted on the mounting base 1-1, the humanoid-mobile mechanical arm 2 further comprises a connecting plate 2-1, two end parts of the connecting plate 2-1 are respectively mounted on sliding blocks of the two sliding tables 1-3, and the other end part of the first connecting support 2-2 is fixedly connected with the connecting plate 2-1. The mounting rack 1 is fixed on an operating table through a mounting base 1-1, and the bottom end parts of the two sliding tables 1-3 are fixedly arranged on the mounting base 1-1 through two fixed supports respectively. The sliding table 1-3 is a 600mm sliding table 1-3, and the connecting plate 2-1 and the sliding block, the fixed support and the mounting base 1-1, and the sliding table 1-3 and the fixed support are fixedly connected through bolts respectively. The humanoid hand mechanical arm 2 is vertically and slidably mounted on the mounting frame 1 through a connecting plate 2-1.
A use method of the human-hand-simulated prostate particle implantation robot comprises the following steps:
firstly, a patient lies on an operating bed in a lithotomy position, and the perineum part is disinfected and anesthetized; fixing a mounting rack 1 on an operating table, placing radioactive particles 125I into a particle cartridge clip 3-7-3 and inserting the radioactive particles into a particle implantation bin 3-7-2 under a preoperative sealed environment, and enabling a needle point of a puncture needle of a particle implantation mechanism 3 to reach a perineum position by adjusting the height position of a human-simulated mobile phone mechanical arm 2 on the mounting rack 1 and the positions of arm joints of the human-simulated mobile phone mechanical arm 2 (the positions of the arm joints are the positions of motion mechanisms) according to target point images collected by TRUS, MRI and CT by a doctor so as to keep the optimal needle inserting posture and complete preoperative preparation work;
then, the humanoid hand-set mechanical arm 2 is driven, the particle implantation mechanism 3 selects an optimal puncture path according to the acquired target point image, the puncture component 3-7 is driven, the puncture needle 3-7-11 is sent to a preset position of a focus point in a rotary needle inserting mode, through the arrangement of the six-dimensional force sensor 2-12, the single-dimensional force sensor 2-6-3 and the displacement sensor 2-6-5, the humanoid hand-set mechanical arm 2 can perform force/position closed-loop control according to the preset puncture position to realize flexible action, and a doctor can perform manual puncture or adjustment according to actual conditions;
then, the inner needle assembly 3-4 is driven to deliver the radioactive seeds 125I to the target site after the inner needle 3-4-5 is protruded out of the puncture needle, and meanwhile, the rotational movement of the inner needle 3-4-5 can reduce the friction between the inner needle 3-4-5 and the prostate tissue to prevent the particles from being blocked;
and finally, observing the needle position through the TRUS and MRI images, driving the humanoid hand mechanical arm 2 to withdraw or retreat the puncture needle to the cortex, adjusting the humanoid hand mechanical arm 2 to enable the particle implantation mechanism 3 to reach the preset puncture position for next particle implantation, and completing a multi-particle implantation task under the condition of the least puncture times.
Claims (10)
1. A humanoid prostate particle implantation robot is characterized in that: the artificial human hand mechanical arm comprises an installation frame (1), an artificial human hand mechanical arm (2) which is vertically and slidably installed on the installation frame (1) and a particle implantation mechanism (3) installed at the tail end of the artificial human hand mechanical arm (2), wherein the artificial human hand mechanical arm (2) comprises a first movement mechanism, a second movement mechanism, a third movement mechanism, a fourth movement mechanism, a third movement mechanism, a fourth movement mechanism and a sixth movement mechanism, the first movement mechanism, the second movement mechanism, the third movement mechanism and the fourth movement mechanism are sequentially hinged, a one-dimensional force sensor (2-6-3) and a displacement sensor (2-6-5) are installed on each movement mechanism, a six-dimensional force sensor (2-12) is installed between the particle implantation mechanism (3) and;
the particle implantation mechanism (3) comprises a main support (3-1), a puncture assembly (3-7) and an inner needle assembly (3-4), wherein the puncture assembly (3-7) is fixedly connected with the fourth movement mechanism through the main support (3-1), and the inner needle assembly (3-4) is positioned between the puncture assembly (3-7) and the fourth movement mechanism and is arranged in a sliding manner along the length direction of the main support (3-1);
the puncture assembly (3-7) comprises a particle implantation bin (3-7-2) fixedly mounted at the front part of the main support (3-1), a particle cartridge clip (3-7-3) inserted in the particle implantation bin (3-7-2), a front end cover (3-7-7) fixedly mounted at the front end of the main support (3-1) and a puncture needle (3-7-11) rotatably mounted in the front end cover (3-7-7), wherein the rear end of the puncture needle (3-7-11) is inserted in the particle implantation bin (3-7-2) and is arranged opposite to a particle outlet on the particle cartridge clip (3-7-3);
the inner needle assembly (3-4) comprises an inner needle (3-4-5) which is arranged in a rotating mode around the self axial direction, the inner needle (3-4-5) and the puncture needle (3-7-11) are arranged coaxially, and during the implantation process of the radioactive seeds, the inner needle (3-4-5) moves towards the front end and penetrates through the puncture needle (3-7-11) to send the radioactive seeds to a target position.
2. The human-hand-simulated robot for implanting prostate particles according to claim 1, wherein: two lead screws (3-5) are rotatably and parallelly arranged on two sides of the main support (3-1), the end part of each lead screw (3-5) is correspondingly driven by a first driving motor (3-13) fixedly arranged on two sides of the main support (3-1), the inner needle assembly (3-4) is slidably arranged on the main support (3-1) through a mounting plate (3-4-1), and the mounting plate (3-4-1) is in threaded connection with the two lead screws (3-5).
3. The human-hand-simulated robot for implanting prostate particles according to claim 1 or 2, wherein: the puncture assembly (3-7) further comprises a hollow shaft stepping motor (3-7-6), a puncture needle shaft cylinder (3-7-9), a puncture needle chuck (3-7-10) and a mounting bracket (3-7-5), the particle implantation bin (3-7-2) is fixedly connected with the front end cover (3-7-7) through the mounting bracket (3-7-5), the hollow shaft stepping motor (3-7-6) is fixedly arranged between the front end cover (3-7-7) and the mounting bracket (3-7-5), the puncture needle (3-7-11) is fixedly arranged in the puncture needle shaft cylinder (3-7-9) through the puncture needle chuck (3-7-10), and the puncture needle shaft cylinder (3-7-9) and the hollow shaft of the hollow shaft stepping motor (3-7-6) Is connected with a puncture needle shaft barrel (3-7-9) in a key way, and the puncture needle (3-7-11) sequentially passes through a puncture needle chuck (3-7-10) and a hollow shaft stepping motor (3-7-6) and enters a particle implantation bin (3-7-2).
4. The humanoid hand prostate particle implantation robot of claim 3, wherein: a particle implantation front guide rod (3-7-4) is inserted in the particle implantation bin (3-7-2), the particle cartridge clip (3-7-3) is inserted in the particle implantation front guide rod (3-7-4), and a puncture needle (3-7-11) is arranged in the particle implantation front guide rod (3-7-4) in a penetrating way and is butted with a particle outlet of the particle cartridge clip (3-7-3).
5. The humanoid hand prostate particle implantation robot of claim 3, wherein: the inner needle assembly (3-4) further comprises a second driving motor (3-4-8), an inner needle shaft cylinder (3-4-3) and an inner needle chuck (3-4-4), wherein the second driving motor (3-4-8) is fixedly arranged on the mounting plate (3-4-1), the inner needle (3-4-5) is fixedly arranged in the inner needle shaft cylinder (3-4-3) through the inner needle chuck (3-4-4), and the inner needle shaft cylinder (3-4-3) is connected with the second driving motor (3-4-8) in a key mode.
6. The human hand-simulated robot for implanting prostate particles as claimed in claim 1, 2, 4 or 5, wherein: the bottom end of the mounting plate (3-4-1) is fixedly provided with a limit stop (3-4-7), and the front part and the rear part of the bottom end of the main bracket (3-1) are respectively provided with a limit switch (3-9).
7. The human-hand-simulated robot for implanting prostate particles according to claim 6, wherein: the first motion mechanism comprises a first electric cylinder (2-15) and a first connecting support (2-2), the second motion mechanism comprises a second electric cylinder (2-6) and a second connecting support (2-5), the third motion mechanism comprises a third electric cylinder (2-8) and a third connecting support (2-7), the fourth motion mechanism comprises a fourth electric cylinder (2-10) and a fourth connecting support (2-9), wherein the first connecting support (2-2) is of a cantilever beam structure, the humanoid hand mechanical arm (2) is vertically and slidably mounted on the mounting frame (1) through the first connecting support (2-2), the second connecting support (2-5) is positioned below the first connecting support (2-2) and is hinged with one end part of the first connecting support (2-2), the third connecting support (2-7) is positioned below the second connecting support (2-5) and is hinged with one end part of the second connecting support (2-5), one end of the fourth connecting support (2-9) is hinged with the lower part of the third connecting support (2-7), and the other end of the fourth connecting support is hinged with a wrist connecting rod (2-11); the fixed end and the movable end of the first electric cylinder (2-15) are respectively hinged below the first connecting support (2-2) and the second connecting support (2-5), the fixed end and the movable end of the second electric cylinder (2-6) are respectively hinged on the second connecting support (2-5) and the upper part of the third connecting support (2-7), the fixed end and the movable end of the third electric cylinder (2-8) are respectively hinged on the third connecting support (2-7) and one end of the fourth connecting support (2-9), and the fixed end and the movable end of the fourth electric cylinder (2-10) are respectively hinged on the fourth connecting support (2-9) and the wrist connecting rod (2-11).
8. The human hand-simulated robot for implanting prostate particles as claimed in claim 1, 2, 4, 5 or 7, wherein: in each motion mechanism, a connector (2-6-4) is fixedly arranged at the movable end of an electric cylinder, a one-dimensional force sensor (2-6-3) is fixedly arranged between the movable end of the electric cylinder and the connector (2-6-4), a displacement sensor (2-6-5) is a pull rod type linear displacement sensor (2-6-5), the displacement sensor (2-6-5) is fixedly arranged on a cylinder body of the electric cylinder through a fixed frame, a connecting frame (2-6-2) is fixedly arranged between the one-dimensional force sensor (2-6-3) and the movable end of the electric cylinder, and a pull rod of the displacement sensor (2-6-5) is fixedly connected with the connecting frame (2-6-2).
9. The human-hand-simulated robot for implanting prostate particles according to claim 8, wherein: the mounting rack (1) comprises a horizontally arranged mounting base (1-1) and two sliding tables (1-3) which are arranged in parallel and vertically and fixedly arranged on the mounting base (1-1), the humanoid hand mechanical arm (2) further comprises a connecting plate (2-1), two end parts of the connecting plate (2-1) are respectively arranged on sliding blocks of the two sliding tables (1-3), and the other end part of the first connecting support (2-2) is fixedly connected with the connecting plate (2-1).
10. A method for using the humanoid hand prostate particle implantation robot of any one of claims 1-9, characterized in that: it comprises the following steps:
firstly, a patient lies on an operating bed in a lithotomy position, and the perineum part is disinfected and anesthetized; fixing a mounting rack (1) on an operating table, placing radioactive particles 125I into a particle clip (3-7-3) and inserting the radioactive particles into a particle implantation bin (3-7-2) in a preoperative sealed environment, and enabling the needle point of a puncture needle of a particle implantation mechanism (3) to reach the perineum position by adjusting the height position of a human-simulated mobile phone mechanical arm (2) on the mounting rack (1) and the positions of arm joints of the human-simulated mobile phone mechanical arm (2) according to target point images collected by TRUS, MRI and CT by a doctor according to the target point images, so that preoperative preparation work is completed;
then, the humanoid hand mechanical arm (2) is driven, the particle implantation mechanism (3) selects an optimal puncture path according to the acquired target point image, the puncture assembly (3-7) is driven, the puncture needle (3-7-11) is sent to a preset position of a focus point in a rotary needle inserting mode, through the arrangement of the six-dimensional force sensor (2-12), the single-dimensional force sensor (2-6-3) and the displacement sensor (2-6-5), the humanoid hand mechanical arm (2) can perform force/position closed-loop control according to a preset puncture position to realize flexible action, and a doctor can perform manual puncture or adjustment according to actual conditions;
then, the inner needle assembly (3-4) is driven, after the inner needle (3-4-5) is extended out of the puncture needle, the radioactive particles 125I are sent to the target position, and meanwhile, the rotation motion of the inner needle (3-4-5) can reduce the friction between the inner needle (3-4-5) and the prostate tissue, and prevent the particles from being blocked;
and finally, observing the needle position through the TRUS and MRI images, driving the humanoid hand mechanical arm (2) to withdraw or withdraw the puncture needle to the cortex, and adjusting the humanoid hand mechanical arm (2) to enable the particle implantation mechanism (3) to reach the preset puncture position for next particle implantation, thereby realizing the multi-particle implantation task under the condition of least puncture times.
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