CN113749694B - Puncture biopsy and ablation system - Google Patents
Puncture biopsy and ablation system Download PDFInfo
- Publication number
- CN113749694B CN113749694B CN202111183666.1A CN202111183666A CN113749694B CN 113749694 B CN113749694 B CN 113749694B CN 202111183666 A CN202111183666 A CN 202111183666A CN 113749694 B CN113749694 B CN 113749694B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- puncture
- needle
- ablation
- data processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
- A61B10/0241—Pointed or sharp biopsy instruments for prostate
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1477—Needle-like probes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
- A61B2018/00547—Prostate
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00577—Ablation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B2018/1405—Electrodes having a specific shape
- A61B2018/1425—Needle
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Plasma & Fusion (AREA)
- Physics & Mathematics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Otolaryngology (AREA)
- Pathology (AREA)
- Surgical Instruments (AREA)
Abstract
The application discloses a puncture biopsy and ablation system. The puncture biopsy and ablation system comprises a fixed base, a first mechanical arm, a second mechanical arm and data processing equipment; the first mechanical arm comprises a first mechanical arm and an ultrasonic probe; the second mechanical arm comprises a second mechanical arm and a puncture ablation needle; the data processing equipment is respectively connected to the first mechanical arm and the second mechanical arm; the data processing equipment determines a puncture path from the puncture ablation needle to the focus position according to the real-time position of the puncture ablation needle and the focus position. The utility model discloses an utilize the robot to fix a position puncture ablation technique, its operation degree of difficulty is little, the wound is little, treatment is effectual, the sequelae incidence is low, has greatly improved patient's postoperative quality of life.
Description
Technical Field
The application relates to the technical field of medical instruments, in particular to a puncture biopsy and ablation system.
Background
The prostatic hyperplasia is caused by that the gland hyperplasia is enlarged, and the urethra is blocked to cause urination disorder, so that a series of health problems are caused, and all treatment modes aim to remove or shrink the gland tissue which is proliferated, so that the urethra is unobstructed again. The traditional treatment of diseases related to prostatic hyperplasia generally adopts transurethral electrotomy, the mode has large wound, long operation time and long recovery period, and patients are easy to infect after operation.
Currently there is no solution for medical devices for prostate puncture treatment that utilize robotic ablation treatment.
Patent CN112754616a discloses an ultrasonic positioning puncture system, which can realize the determination of the position conversion relation between the reference coordinate system of the ultrasonic positioning puncture system and the coordinate system where the ultrasonic detection plane is located; and according to the position conversion relation and the first position information, determining the second position information of the target point in the reference coordinate system, thereby improving the accuracy of the puncture operation. However, the scheme is that an ultrasonic probe of the ultrasonic detection device scans along the surface layer of the skin to determine a puncture target point of the surface layer of the skin, when a tissue organ at the lower layer of the skin is a puncture target, the puncture target cannot be determined because the tissue organ is deep into the body, a puncture structure is not disclosed, and accurate targeted positioning cannot be implemented for puncture treatment aiming at the prostate.
Patent CN110575248A discloses a robot system for minimally invasive ablation surgery, comprising an ultrasonic arm, a surgical cart and two sets of main hands, but is suitable for solving the problem that when a focus is too large and two ablation needles are required to penetrate the focus from different directions, two sets of pose separation mechanical arms are required to be arranged to penetrate the focus from different directions, so that the problem that at least more than two doctors are required and the labor intensity is relatively high is solved. However, the ultrasonic arm and the two sets of main hands are positioned in the same horizontal plane, and the ultrasonic arm is arranged between the two sets of pose separation mechanical arms, so that on one hand, the ultrasonic arm can only determine a puncture target point of the skin surface layer position, the tissue organs of the lower layer of the skin can not be positioned for the puncture target, and the two sets of pose separation mechanical arms cannot be horizontally arranged for effectively treating prostate puncture.
Therefore, the transurethral electrotomy is also adopted to treat the prostate, which can lead to the problems of high operation difficulty, large wound, poor treatment effect and high occurrence rate of sequelae.
Disclosure of Invention
The application aims to provide a puncture biopsy and ablation system, which is used for solving the technical problems that the current medical instrument for prostate puncture treatment does not have a solution for ablation treatment by a robot, the tissue organs at the lower layer of the skin cannot be positioned for the puncture target, and the operation difficulty is high, the wound is large, the treatment effect is poor and the sequelae occurrence rate is high when the transurethral electrotomy is adopted for treating the prostate.
In order to achieve the above object, in one embodiment of the present application, a puncture biopsy and ablation system is provided, including a fixed base, a first mechanical arm, a second mechanical arm, and a data processing device; one end of the first mechanical arm is arranged on the fixed base, and the other end of the first mechanical arm is provided with an ultrasonic probe which is used for extending into a human body to collect focus positions of human tissue and organs; one end of the two mechanical arms is arranged on the fixed base, and the other end of the two mechanical arms is provided with a puncture ablation needle; the data processing equipment is arranged on the fixed base, is respectively connected to the first mechanical arm and the second mechanical arm, and is used for controlling the actions of the first mechanical arm and the second mechanical arm and collecting the real-time positions of the ultrasonic probe and the puncture ablation needle; the data processing equipment calculates a puncture path from the puncture ablation needle to the focus position according to the real-time position of the puncture ablation needle and the focus position.
Further, the data processing apparatus establishes a fixed base coordinate system based on the position of the fixed base; the data processing equipment receives the image information returned by the ultrasonic probe and coordinate information corresponding to the image information, and converts the coordinate information returned by the ultrasonic probe into coordinate information under a fixed base coordinate system by combining the pose relation of the first mechanical arm and the second mechanical arm; and the data processing equipment receives the needle point coordinate information returned by the puncture ablation needle, and converts the coordinate information returned by the puncture ablation needle into coordinate information under a fixed base coordinate system by calculating the pose relation between the fixed base coordinate and the second mechanical arm.
Further, the ultrasonic probe extends into the human body below the prostate through the rectum, and the puncture path passes through the perineum so that the puncture ablation needle punctures to the focus position in the prostate through the perineum.
Further, the front end of the puncture ablation needle stretches out a thin electrode wire, and the data processing equipment controls the second mechanical arm to give the thin electrode wire electric energy to generate heat; or the data processing equipment controls the radio frequency output of the fine electrode wire to enable tissue cell ion oscillation friction at the focus position to generate heat.
Further, the front end of the puncture ablation needle is a biopsy taking hole, the rear end of the puncture ablation needle is connected with a hose, and the hose is connected to the biopsy taking hole; when the hose is under negative pressure, the biopsy is taken to adsorb and obtain partial cell tissues; when the liquid medicine is conveyed in the hose, the biopsy taking hole outputs the liquid medicine to the focus position.
Further, the data processing device comprises a man-machine interaction interface, and a user can monitor and control the pose of the first mechanical arm and the second mechanical arm, the energy output of the puncture ablation needle and the starting of the ultrasonic probe in real time.
Further, the first mechanical arm and the second mechanical arm are six-axis joint mechanical arms; the fixed base comprises a chassis and a boss protruding out of the top surface of the chassis, the first mechanical arm is mounted on the chassis, and the second mechanical arm is mounted on the side wall of the boss and is located above the first mechanical arm.
Further, a pulley is arranged at the bottom of the fixed base.
Further, the puncture biopsy and ablation system further comprises a surgical fixation device positioned in front of the first mechanical arm and the second mechanical arm; the surgical fixing device is in a circular ring shape, and the ultrasonic probe are correspondingly arranged in the circular region of the surgical fixing device.
Further, the surgical fixation device is fixed on the first mechanical arm or the second mechanical arm; the surgical fixation apparatus includes a circular aperture through which the ultrasonic probe and the ultrasonic probe may pass.
The application has the beneficial effects that the puncture biopsy and ablation system is provided, the puncture biopsy and ablation system enters glands through multiple points and uniform puncture under the auxiliary system of the perineum robot, corresponding electric energy is given, the electric energy is converted into heat energy in the glands, or medicines are given for treatment to cause the glands to shrink after apoptosis, so that the aim of shrinking the prostate glands is fulfilled. The utility model discloses an utilize the robot to fix a position puncture ablation technique, its operation degree of difficulty is little, the wound is little, treatment is effectual, the sequelae incidence is low, has greatly improved patient's postoperative quality of life.
Drawings
The technical scheme and other beneficial effects of the present application are presented by the detailed description of the specific embodiments of the present application with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a puncture biopsy and ablation system according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a needle biopsy and ablation system according to an embodiment of the present application.
Fig. 3 is a schematic view of a puncture biopsy and ablation system according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to fall within the scope of the application.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
Referring to fig. 1, 2 and 3, an embodiment of the present application provides a puncture biopsy and ablation system 10, which includes a fixed base 1, an ultrasonic positioning robot 2, a puncture ablation robot 3 and a data processing device 4; the ultrasonic positioning robot 2 is mounted to the fixed base 1; the ultrasonic positioning robot 2 comprises a first mechanical arm 21 and an ultrasonic probe 22, wherein one end of the first mechanical arm 21 is mounted on the fixed base 1, the other end of the first mechanical arm is provided with the ultrasonic probe 22, the first mechanical arm 21 is used for adjusting the position of the ultrasonic probe 22, the ultrasonic probe 22 is used for extending into a human body to collect focus positions of human tissue organs, is used for obtaining ultrasonic images, and punctures the images to the data processing equipment 4; the thorn ablation robot 3 is mounted on the fixed base 1 and is positioned above the ultrasonic positioning robot 2; the thorn ablation robot 3 comprises a second mechanical arm 31 and a puncture ablation needle 32, one end of the second mechanical arm 31 is mounted on the fixed base 1, and the other end of the second mechanical arm is provided with the puncture ablation needle 32; the second mechanical arm 31 is used for adjusting the position of the puncture and ablation needle 32, and the puncture and ablation needle 32 is driven by the second mechanical arm 31 to puncture to the focus position for ablation; the data processing device 4 is preferably disposed on the fixed base 1 and connected to the first mechanical arm 21 and the second mechanical arm 31, respectively, for controlling the actions of the first mechanical arm 21 and the second mechanical arm 31 and collecting real-time positions of the ultrasonic probe 22 and the puncture ablation needle 32; the data processing device 4 calculates a puncture path from the puncture ablation needle 32 to the focus position according to the real-time position of the puncture ablation needle 32 and the focus position.
Specifically, the fixing base 1 includes a chassis 11 and a boss 12 protruding from a top surface of the chassis 11, the chassis 11 is provided with a first area and a second area, the boss 12 is located in the first area, the first mechanical arm 21 is mounted to the second area on the chassis 11, the second mechanical arm 31 is mounted to a side wall of the boss 12, and the second mechanical arm 31 is located above the first mechanical arm 21.
In this embodiment, the data processing apparatus 4 establishes a fixed base coordinate system based on the position of the fixed base 1; the data processing device 4 receives the image information returned by the ultrasonic probe 22 and the coordinate information corresponding to the image information, and converts the coordinate information returned by the ultrasonic probe 22 into the coordinate information under the fixed base coordinate system by combining the pose relation of the first mechanical arm 21 and the second mechanical arm 31; the data processing device 4 receives the needle point coordinate information returned by the puncture ablation needle 32, and converts the coordinate information returned by the puncture ablation needle 32 into coordinate information under a fixed base coordinate system by calculating the pose relation between the fixed base coordinate and the second mechanical arm 31.
In this embodiment, the ultrasonic probe 22 extends through the rectum to below the prostate in the human body, and the puncture path passes through the perineum so that the puncture ablation needle 32 punctures the perineum to the focus position in the prostate.
In this embodiment, the front end of the puncture ablation needle 32 stretches out a thin electrode wire, and the data processing device 4 controls the second mechanical arm 31 to give the thin electrode wire electric energy to generate heat; or the data processing equipment 4 controls the radio frequency output of the fine electrode wire to enable tissue cell ion oscillation friction at the focus position to generate heat. The thin electrode wires of the embodiment are provided with a plurality of thin electrode wires to form a structure of multipoint uniform puncture, the thin electrode wires enter glands through the perineum under the auxiliary control of the data processing equipment 4 in a multipoint uniform puncture mode, corresponding electric energy is given, the electric energy is converted into heat energy in the glands, the purpose of reducing the prostate glands is achieved, the method is more minimally invasive, the operation is carried out immediately under local anesthesia, the urethra is not damaged, accurate automatic targeting can be achieved under the auxiliary system of a robot, the energy distribution is uniform, and the glands are uniformly atrophic. The utility model discloses an utilize the robot to fix a position puncture ablation technique, its operation degree of difficulty is little, the wound is little, treatment is effectual, the sequelae incidence is low, has greatly improved patient's postoperative quality of life.
In another embodiment, the front end of the puncture ablation needle 32 is a biopsy taking hole, and the rear end of the puncture ablation needle 32 is connected with a hose, and the hose is connected to the biopsy taking hole; when the hose is under negative pressure, the biopsy taking adsorption is carried out to obtain partial cell tissues, so that a biopsy taking function is realized; when the liquid medicine is conveyed in the hose, the biopsy taking hole outputs the liquid medicine to the focus position, and the gland apoptosis and atrophy are realized by using the drug treatment, so that the aim of reducing the prostate gland is fulfilled. The utility model discloses an utilize the robot to fix a position puncture ablation technique, its operation degree of difficulty is little, the wound is little, treatment is effectual, the sequelae incidence is low, has greatly improved patient's postoperative quality of life.
In this embodiment, the data processing device 4 includes a man-machine interface 41, which allows a user to monitor and control the pose of the first mechanical arm 21 and the second mechanical arm 31, the energy output of the puncture ablation needle 32, and the activation of the ultrasound probe 22 in real time.
In this embodiment, the first mechanical arm 21 and the second mechanical arm 31 are six-axis joint mechanical arms. The six-axis joint mechanical arm is provided with force control detection, and stops working when encountering impact of certain force, so that collision risk is prevented. The six-axis joint mechanical arm is utilized to scan through ultrasonic waves through rectum in vivo in a rotating way, the position of the prostatic hyperplasia is obtained, and the relative coordinates of the robot are established. The point to be ablated is selected by manual marking by a doctor, the coordinate is transmitted to the other puncture ablation needle 32 connected with the six-axis joint mechanical arm, and then the action point is punctured to the proliferation point by controlling the puncture ablation needle 32 by the robot to perform ablation. The effect of ablating the proliferation part is achieved, the method is more minimally invasive, the operation is carried out immediately under local anesthesia, and the urethra is not damaged.
In this embodiment, a pulley 13 is disposed at the bottom of the fixed base 1. The pulley 13 can fix the position of the fixed base 1 by a fixed switch to prevent sliding.
Referring to fig. 1 and 3, in this embodiment, the puncture biopsy and ablation system 10 further includes a surgical fixture 5, which is located in front of the first mechanical arm 21 and the second mechanical arm 31; the operation fixing device 5 is in a circular ring shape, and the ultrasonic probe 22 are correspondingly arranged in the circular region of the operation fixing device 5. The operation fixing device 5 provides supporting and fixing functions for the operation part of the patient, and ensures that the basic pose of the prostate, the rectum and other parts of the operation part is not changed greatly.
In this embodiment, the surgical fixing device 5 is fixed on the second mechanical arm 31, and the surgical fixing device 5 and the puncture ablation needle 32 are arranged in parallel at the end of the second mechanical arm 31; the surgical fixture 5 includes a circular aperture through which the ultrasonic probe 22 and the ultrasonic probe 22 may pass. It is to be understood that the surgical fixture 5 may be fixed to the first arm 21, and the surgical fixture 5 and the ultrasonic probe 22 may be juxtaposed at the distal end of the first arm 21.
The patent applies to medical procedure types and for ease of analysis, the system procedure will be analyzed in the form of a patient procedure simulation, which does not include preoperative preparation and anesthesia procedures, and which is primarily directed to the method of use of the needle biopsy and ablation system 10.
1) The operation is started by fixing the patient to the operation fixing device 5 in a proper posture (the specific posture is determined by the doctor), so that the perineum and anus parts of the patient are exposed, the perineum parts are opposite to the same side of the second mechanical arm 31, and the anus parts are opposite to the same side of the first mechanical arm 21.
2) Sterilizing the perineum of the patient.
3) The first mechanical arm 21 is abutted with the ultrasonic probe 22, and the second mechanical arm 31 is abutted with the puncture ablation needle 32, so that the ultrasonic probe 22 and the puncture ablation needle 32 and the corresponding robot 2 are kept relatively static.
4) The disposable ultrasonic protective sleeve is mounted on the ultrasonic probe 22 in a standardized manner to ensure aseptic operation.
5) By the data processing apparatus 4, the pose of the six-axis robot arm in the first robot arm 21 is changed, so that the ultrasonic probe 22 is gradually introduced into the rectum from the anus in fig. 3, and the ultrasonic generating device of the ultrasonic probe 22 is faced to the prostate.
6) The pose of the six-axis mechanical arm in the second mechanical arm 31 is changed through the data processing equipment 4, so that the puncture ablation needle 32 is placed at a certain distance from the perineum puncture point in fig. 3 to prepare for puncture.
7) The ultrasonic probe 22 is activated through the data processing device 4, the pose of the six-axis mechanical arm in the first mechanical arm 21 is changed, and the required prostate image information is obtained.
8) Through the interaction of the display screen of the data processing equipment 4, a doctor manually selects a puncture target area (namely the focus position), and the ablation energy size and time duration are selected according to the lesion size, so that the start of the puncture action is confirmed.
9) The data processing apparatus 4 acquires the pose relationship with the ultrasonic probe 22 using the coordinates with the fixed base 1, and acquires the coordinates of the target area selected by the doctor in the reference coordinate system.
10 The data processing device 4 calculates the path of the six-axis robot arm and the puncture ablation needle 32 in the second robot arm 31 to reach the coordinates of the target area, and displays the puncture trajectory (i.e., puncture path).
11 If the doctor ensures that the puncture trajectory is appropriate, the puncture is again confirmed.
12 The pose of the six-axis mechanical arm in the second mechanical arm 31 is changed again through the data processing device 4, so that the puncture ablation needle 32 punctures the target lesion area from the perineum part according to the computed puncture path.
13 If the physician ensures that the penetration location is correct, the ablation is confirmed.
14 By the data processing device 4, the penetrating ablation needle 32 is controlled to ablate according to the specified energy level and duration.
15 If the physician ensures that the ablation is successful, the needle withdrawal is confirmed.
16 Through the data processing equipment 4, the pose of the six-axis mechanical arm in the second mechanical arm 31 is changed, so that the puncture ablation needle 32 is withdrawn out of the puncture target area according to the reverse needle withdrawal according to the original path.
17 If there are no other lesion areas, the doctor issues an end instruction through the data processing device 4, and the data processing device 4 changes the pose of the six-axis mechanical arm in the first mechanical arm 21, so that the ultrasonic probe 22 is withdrawn from the rectum.
18 The protective sleeve of the disposable ultrasonic probe 22 is taken off, the instrument is sterilized, and the operation is finished.
The application has the beneficial effects that the puncture biopsy and ablation system is provided, the puncture biopsy and ablation system enters glands through multiple points and uniform puncture under the auxiliary system of the perineum robot, corresponding electric energy is given, the electric energy is converted into heat energy in the glands, or medicines are given for treatment to cause the glands to shrink after apoptosis, so that the aim of shrinking the prostate glands is fulfilled. The utility model discloses an utilize the robot to fix a position puncture ablation technique, its operation degree of difficulty is little, the wound is little, treatment is effectual, the sequelae incidence is low, has greatly improved patient's postoperative quality of life.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
The foregoing has described in detail embodiments of the present application, and specific examples have been employed herein to illustrate the principles and embodiments of the present application, the above description of the embodiments being only for the purpose of aiding in the understanding of the technical solution and core idea of the present application; those of ordinary skill in the art will appreciate that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Claims (7)
1. A needle biopsy and ablation system, comprising:
a fixed base;
one end of the first mechanical arm is arranged on the fixed base, and the other end of the first mechanical arm is provided with an ultrasonic probe which is used for extending into a human body to collect focus positions of human tissue and organs;
one end of the second mechanical arm is arranged on the fixed base, and the other end of the second mechanical arm is provided with a puncture ablation needle; and
the data processing equipment is respectively connected to the first mechanical arm and the second mechanical arm and used for controlling the actions of the first mechanical arm and the second mechanical arm and collecting the real-time positions of the ultrasonic probe and the puncture ablation needle; the data processing equipment calculates a puncture path from the puncture ablation needle to the focus position according to the real-time position of the puncture ablation needle and the focus position, wherein the puncture path passes through the perineum so that the puncture ablation needle punctures to the focus position in the prostate through the perineum;
the front end of the puncture ablation needle is a biopsy taking hole, the rear end of the puncture ablation needle is connected with a hose, and the hose is connected to the biopsy taking hole; when the hose is under negative pressure, the biopsy is taken to adsorb and obtain partial cell tissues; when the liquid medicine is conveyed in the hose, the biopsy taking hole outputs the liquid medicine to the focus position;
the front end of the puncture ablation needle stretches out a thin electrode wire, and the data processing equipment controls the second mechanical arm to give the thin electrode wire electric energy to heat; or the data processing equipment controls the radio frequency output of the fine electrode wire to enable tissue cell ion oscillation friction at the focus position to generate heat;
the surgical fixing device is positioned in front of the first mechanical arm and the second mechanical arm; the ultrasonic probe and the puncture ablation needle are arranged in an annular area of the surgical fixing device; the surgical fixation apparatus includes a circular aperture through which the ultrasonic probe and the penetrating ablation needle may pass.
2. The needle biopsy and ablation system of claim 1, wherein,
the data processing device establishes a fixed base coordinate system based on the position of the fixed base;
the data processing equipment receives the image information returned by the ultrasonic probe and coordinate information corresponding to the image information, and converts the coordinate information returned by the ultrasonic probe into coordinate information under a fixed base coordinate system by combining the pose relation of the first mechanical arm and the second mechanical arm;
and the data processing equipment receives the needle point coordinate information returned by the puncture ablation needle, and converts the coordinate information returned by the puncture ablation needle into coordinate information under a fixed base coordinate system by calculating the pose relation between the fixed base coordinate and the second mechanical arm.
3. The needle biopsy and ablation system of claim 1, wherein the ultrasound probe extends rectally into the body below the prostate.
4. The needle biopsy and ablation system of claim 1, wherein the data processing device comprises a human-machine interface for a user to monitor and control the pose of the first and second robotic arms, the energy output of the needle and the activation of the ultrasound probe in real time.
5. The needle biopsy and ablation system of claim 1, wherein the first and second robotic arms are six-axis articulated robotic arms; the fixed base comprises a chassis and a boss protruding out of the top surface of the chassis, the first mechanical arm is mounted on the chassis, and the second mechanical arm is mounted on the side wall of the boss and is located above the first mechanical arm.
6. The needle biopsy and ablation system of claim 1, wherein the bottom of the stationary base is provided with a pulley.
7. The needle biopsy and ablation system of claim 1, wherein the surgical fixation device is secured to the first mechanical arm or the second mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111183666.1A CN113749694B (en) | 2021-10-11 | 2021-10-11 | Puncture biopsy and ablation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111183666.1A CN113749694B (en) | 2021-10-11 | 2021-10-11 | Puncture biopsy and ablation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113749694A CN113749694A (en) | 2021-12-07 |
| CN113749694B true CN113749694B (en) | 2023-08-15 |
Family
ID=78799172
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111183666.1A Active CN113749694B (en) | 2021-10-11 | 2021-10-11 | Puncture biopsy and ablation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113749694B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115153842B (en) * | 2022-06-30 | 2023-12-19 | 常州朗合医疗器械有限公司 | Double-arm robot navigation control method, device, system and storage medium |
| CN117598779A (en) * | 2024-01-11 | 2024-02-27 | 重庆伊波纳医疗科技有限公司 | Photothermal ablation device for preventing and treating local recurrence of breast cancer and application method thereof |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102626329A (en) * | 2012-03-13 | 2012-08-08 | 郑州大学 | Radiofrequency ablation negative pressure automatic biopsy gun |
| CN202497235U (en) * | 2011-12-22 | 2012-10-24 | 王涛 | Diameter variable basket radiofrequency ablation electrode |
| CN107184255A (en) * | 2017-07-11 | 2017-09-22 | 哈尔滨理工大学 | A kind of ultrasonic per rectum prostate biopsy mechanism |
| CN107970060A (en) * | 2018-01-11 | 2018-05-01 | 上海联影医疗科技有限公司 | Surgical robot system and its control method |
| CN207979711U (en) * | 2017-06-26 | 2018-10-19 | 扬州市第一人民医院 | Option of prostate biopsy guided by transrectal ultrasound device |
| CN108814691A (en) * | 2018-06-27 | 2018-11-16 | 无锡祥生医疗科技股份有限公司 | The ultrasonic guidance auxiliary device and system of needle |
| CN109124770A (en) * | 2018-08-01 | 2019-01-04 | 复旦大学附属中山医院 | A kind of prostate biopsy robot |
| CN112754616A (en) * | 2020-12-30 | 2021-05-07 | 诺创智能医疗科技(杭州)有限公司 | Ultrasonic positioning puncture system and storage medium |
| CN113133832A (en) * | 2021-03-26 | 2021-07-20 | 中国科学院深圳先进技术研究院 | Calibration method and system for double-arm robot puncture system |
| CN113413216A (en) * | 2021-07-30 | 2021-09-21 | 武汉大学 | Double-arm puncture robot based on ultrasonic image navigation and puncture method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2949316A1 (en) * | 2009-08-31 | 2011-03-04 | Koelis | CONTROL SYSTEM AND METHOD FOR PRECISE GUIDANCE TO THE PROSTATE OF A PERCUTANEOUS NEEDLE |
-
2021
- 2021-10-11 CN CN202111183666.1A patent/CN113749694B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202497235U (en) * | 2011-12-22 | 2012-10-24 | 王涛 | Diameter variable basket radiofrequency ablation electrode |
| CN102626329A (en) * | 2012-03-13 | 2012-08-08 | 郑州大学 | Radiofrequency ablation negative pressure automatic biopsy gun |
| CN207979711U (en) * | 2017-06-26 | 2018-10-19 | 扬州市第一人民医院 | Option of prostate biopsy guided by transrectal ultrasound device |
| CN107184255A (en) * | 2017-07-11 | 2017-09-22 | 哈尔滨理工大学 | A kind of ultrasonic per rectum prostate biopsy mechanism |
| CN107970060A (en) * | 2018-01-11 | 2018-05-01 | 上海联影医疗科技有限公司 | Surgical robot system and its control method |
| CN108814691A (en) * | 2018-06-27 | 2018-11-16 | 无锡祥生医疗科技股份有限公司 | The ultrasonic guidance auxiliary device and system of needle |
| CN109124770A (en) * | 2018-08-01 | 2019-01-04 | 复旦大学附属中山医院 | A kind of prostate biopsy robot |
| CN112754616A (en) * | 2020-12-30 | 2021-05-07 | 诺创智能医疗科技(杭州)有限公司 | Ultrasonic positioning puncture system and storage medium |
| CN113133832A (en) * | 2021-03-26 | 2021-07-20 | 中国科学院深圳先进技术研究院 | Calibration method and system for double-arm robot puncture system |
| CN113413216A (en) * | 2021-07-30 | 2021-09-21 | 武汉大学 | Double-arm puncture robot based on ultrasonic image navigation and puncture method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113749694A (en) | 2021-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113749694B (en) | Puncture biopsy and ablation system | |
| JP5964010B2 (en) | Method and system for controlled deployment of a needle in tissue | |
| DE60315135T2 (en) | therapy probe | |
| US20120078094A1 (en) | Ultrasound-Guided Ablation Method and Ultrasound-Guided Ablation System | |
| US11612431B2 (en) | Methods for monitoring ablation progress with doppler ultrasound | |
| JP2013135738A (en) | Operation support system | |
| KR101562998B1 (en) | Fat Melting Medical Device for Obesity Improvement by using Electronic RF and highly concentrated Ultrasound | |
| CN114650775B (en) | Surgical probe for tissue resection by robotic arm | |
| CN104225780B (en) | A kind of Intelligence Ultrasound diagnosis and therapy apparatus and its application method | |
| JP2018518338A (en) | Visible fractional laser equipment | |
| WO2017206520A1 (en) | Medical robot for assisting surgery | |
| JP2012228286A (en) | Treatment support system and medical image processing device | |
| JP3514854B2 (en) | Ultrasound diagnostic treatment system | |
| KR101644011B1 (en) | High Intensity Focused Ultrasonic Medical Instrument with Dual Transducers | |
| JP2012105766A (en) | Medical surgical instrument | |
| JP5779027B2 (en) | Ultrasonic therapy device | |
| CN212593552U (en) | High-intensity focused ultrasound-puncture ablation fusion treatment equipment | |
| CN211461229U (en) | Ultrasonic visual acupuncture device | |
| JP4021050B2 (en) | Prostate treatment device | |
| JP3631388B2 (en) | Surgery system | |
| KR20120117510A (en) | Apparatus for ultrasound treatment and driving method thereof | |
| KR20130064842A (en) | High intensity focused ultrasound generating device having separated type image sensor | |
| CN107137142A (en) | A kind of pressure sensitive test device | |
| CN114521954A (en) | Ablation electrode with miniature endoscope | |
| Refatovich et al. | The Role of Surgical Robotic Systems in Operative Urology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |