CN114404824A - Puncture template based on optical positioning, auxiliary radiotherapy constant force tracking system realized by applying same and constant force tracking method - Google Patents

Puncture template based on optical positioning, auxiliary radiotherapy constant force tracking system realized by applying same and constant force tracking method Download PDF

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Publication number
CN114404824A
CN114404824A CN202210147701.2A CN202210147701A CN114404824A CN 114404824 A CN114404824 A CN 114404824A CN 202210147701 A CN202210147701 A CN 202210147701A CN 114404824 A CN114404824 A CN 114404824A
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printing template
template
optical
mechanical arm
constant force
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CN114404824B (en
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李长乐
张雷锋
范逸伦
刘刚峰
张学贺
赵杰
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Harbin Institute of Technology
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Harbin Institute of Technology
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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
    • A61N5/1002—Intraluminal radiation therapy
    • 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
    • A61N5/1014—Intracavitary radiation therapy
    • 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
    • A61N5/103—Treatment planning systems
    • 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
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • 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
    • A61N2005/1019—Sources therefor
    • A61N2005/1024—Seeds
    • 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
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P10/00—Technologies related to metal processing
    • Y02P10/25—Process efficiency

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Radiation-Therapy Devices (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

A puncture template based on optical positioning, an auxiliary radiotherapy constant force tracking system and a constant force tracking method realized by applying the puncture template relate to the field of robot-assisted brachytherapy based on a 3D printing template. The problems that the existing 3D printing template based weight is uneven in distribution, offset is easy to occur, the operation difficulty is high, the tracking difficulty of an optical small ball is high, and constant force tracking cannot be performed on the optical small ball are solved. The puncture template comprises a 3D printing template, a clamping connecting piece, N positioning reference columns and N optical pellets; the clamping connecting piece is fixed in the middle of the lower end of the 3D printing template; the 3D printing template is of a curved surface structure, and a plurality of puncture needle channels are arranged on the 3D printing template; the N positioning reference columns are fixed on the upper surface of the 3D printing template, and an optical small ball is fixed at the top end of each positioning reference column; and the middle part of the lower end of the 3D printing template is provided with a clamping connecting piece. The method is mainly used for constant force tracking of the 3D printing template.

Description

Puncture template based on optical positioning, auxiliary radiotherapy constant force tracking system realized by applying same and constant force tracking method
Technical Field
The invention relates to the field of robot-assisted brachytherapy based on a 3D printing template.
Background
With the development and popularization of robots, more and more industries start to use robots instead of manual work, and various types of robots start to appear in the field of vision of people. In recent years, more and more robots are involved in the medical field, and more surgeons use robotic assistance in surgery during surgery.
When carrying out pleuroperitoneal cavity brachytherapy particle implantation operation among the prior art, there is the navigation head that adopts 3D printing template to realize to carry out the particle implantation positioning technique, but when concrete application, there is the navigation head that 3D printing template realized to use the defect that the flexibility is poor, and its main performance is: the optical small ball is fixed on one side of the 3D printing template through the bracket, so that the weight distribution of the 3D printing template is uneven, the 3D printing template is easy to deviate, and the positioning accuracy is poor; in addition, the optical ball is fixed on one side of the 3D printing template through the bracket, and the optical acquisition system cannot track the optical ball in all directions, so that the tracking and operation difficulty is further increased;
when carrying out pleuroperitoneal cavity brachytherapy particle implantation operation, because the laminating of 3D printing template and the unable constant dynamics that keeps of people's breathing messenger, the extrusion can lead to the focus to squint, presses through doctor's hand at present and keeps the template on human surface clinically to along with the fluctuation adjustment hand action of thorax. Therefore, at least two doctors are needed to perform the operation in the process of implanting the particles, the risk of exposure to radiation of the medical staff is increased, and the 3D printing template cannot be subjected to constant force tracking control, so that the above problems need to be solved urgently.
Disclosure of Invention
The invention aims to solve the problems that the existing 3D printing template based puncture template is uneven in weight distribution, easy to shift, high in operation difficulty, high in optical bead tracking difficulty and incapable of performing constant force tracking on the existing template, and provides a puncture template based on optical positioning, and an auxiliary radiotherapy constant force tracking system and a constant force tracking method which are realized by applying the puncture template.
The puncture template based on optical positioning comprises a 3D printing template, a clamping connecting piece, N positioning reference columns and N optical pellets; n is an integer;
the clamping connecting piece is fixed in the middle of the lower end of the 3D printing template;
the 3D printing template is of a curved surface structure, and a plurality of puncture needle channels are arranged on the 3D printing template;
the N positioning reference columns are fixed on the upper surface of the 3D printing template, and an optical small ball is fixed at the top end of each positioning reference column;
the middle part of the lower end of the 3D printing template is provided with a clamping connecting piece, and the clamping connecting piece is used for being fixedly connected with a clamping jaw on the mechanical arm.
The constant force tracking system for the auxiliary radiotherapy is realized by adopting the puncture template based on the optical positioning, and further comprises a clamping jaw, a quick-change interface, a force/torque sensor, optical navigation equipment and a mechanical arm;
the tail end of the mechanical arm is provided with a quick-change interface, the force/torque sensor is clamped between the tail end of the mechanical arm and the head end of the quick-change interface, and a clamping jaw is fixed at the tail end of the quick-change interface;
the clamping jaw is used for clamping the clamping connecting piece, so that the 3D printing template is clamped;
the optical navigation device is used for tracking the optical ball.
The constant force tracking method realized by the auxiliary radiotherapy constant force tracking system comprises the following specific processes:
s1, pushing the 3D printing template to the focus position through the mechanical arm to enable the initial pose of the 3D printing template to be in a preset pose, and meanwhile, giving the pre-pressure of the 3D printing template to position the pose of the 3D printing template;
s2, in the puncturing process, the optical navigation equipment calculates the current pose of the 3D printing template according to the positions of the N optical pellets in real time, and the upper computer controls the mechanical arm to move according to the difference between the current pose and the preset pose, so that the mechanical arm drives the 3D printing template to move to the preset pose;
and then sensing the resistance of the mechanical arm in real time through a force/torque sensor, and adjusting the resistance of the mechanical arm in real time according to the deviation between the current resistance and the pre-pressure, so that the resistance and the pre-pressure are kept constant, and the constant-force tracking of the 3D printing template is realized.
The invention has the following beneficial effects:
based on the puncture template of optical positioning to distribute the optics bobble on 3D print template, keep whole 3D print template weight distribution even, avoid the barycenter skew, and be convenient for track the optics bobble, the operation of being convenient for does not influence the puncture operation.
The invention designs an auxiliary radiotherapy constant force tracking system and method which can be used at the tail end of a brachytherapy seed implantation robot, aiming at a robot participating in brachytherapy seed implantation. The auxiliary radiotherapy constant force tracking system is realized based on the puncture template positioned by optics, and can perform constant force tracking on the 3D printing template.
The auxiliary radiotherapy constant force tracking system and the method have the following characteristics: the auxiliary radiotherapy constant force tracking system has the characteristic of quick replacement; the working efficiency and the constant force tracking precision are high, and the system is simple, convenient to operate and convenient to maintain.
Drawings
FIG. 1 is a schematic diagram of a puncture template based on optical positioning according to one embodiment;
fig. 2 is a diagram of the connection between the puncture template and the holding jaw 5 based on optical positioning;
fig. 3 is a schematic three-dimensional structure diagram of an auxiliary radiotherapy constant force tracking system according to the fourth embodiment;
fig. 4 is a top view of an auxiliary radiotherapy constant force tracking system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The first embodiment is as follows: the following describes the present embodiment with reference to fig. 1 and 2, and the puncture template based on optical positioning in the present embodiment includes a 3D printing template 1, a clamping connector 2, N positioning reference columns 3, and N optical beads 4; n is an integer;
the clamping connecting piece 2 is fixed in the middle of the lower end of the 3D printing template 1;
the 3D printing template 1 is of a curved surface structure, and a plurality of puncture needle channels 1-1 are arranged on the 3D printing template;
the N positioning reference columns 3 are fixed on the upper surface of the 3D printing template 1, and an optical small ball 4 is fixed at the top end of each positioning reference column 3;
the middle part of the lower end of the 3D printing template 1 is provided with a clamping connecting piece 2, and the clamping connecting piece 2 is used for being fixedly connected with a clamping jaw 5 on the mechanical arm 9.
This embodiment has given a concrete structure of puncture template based on optical localization, during specific application, makes 3D print template 1 according to the patient's size to with optics bobble 4 distribution on 3D print template 1, keep 1 weight distribution of whole 3D print template even, avoid the barycenter skew, and be convenient for track optics bobble 4, the operation of being convenient for does not influence the puncture operation.
The second embodiment is as follows: the present embodiment is described below with reference to fig. 1 and 2, and the present embodiment further describes the first embodiment, in which a plurality of hollow holes 1-2 are formed in the upper surface of the 3D printing template 1.
In the preferred embodiment, the weight of the 3D printing template 1 is further reduced by additionally arranging the hollow holes 1-2, so that the operation is convenient. During specific application, the sizes of the plurality of hollowed-out holes 1-2 are different, and the center of mass of the balanced 3D printing template 1 in the center of the 3D printing template 1 is taken as a reference.
The third concrete implementation mode: the present embodiment will be described with reference to fig. 1, and the present embodiment further describes the first embodiment in which the fixing manner of the distal end of the positioning reference column 3 and the optical bead 4 is insertion fixing.
In the preferred embodiment, the top end of the positioning reference column 3 and the optical small ball 4 are fixed in a plug-in connection mode, so that the structure is simple and the assembly and disassembly are convenient.
The fourth concrete implementation mode: the present embodiment is described below with reference to fig. 1 to 4, and an auxiliary radiotherapy constant force tracking system implemented by using the optical positioning-based puncture template described in the first embodiment is adopted, where the constant force tracking system further includes a clamping jaw 5, a quick-change interface 6, a force/torque sensor 7, an optical navigation device 8, and a mechanical arm 9;
the tail end of the mechanical arm 9 is provided with a quick-change interface 6, the force/torque sensor 7 is clamped between the tail end of the mechanical arm 9 and the head end of the quick-change interface 6, and the tail end of the quick-change interface 6 is fixed with a clamping jaw 5;
the clamping jaw 5 is used for clamping the clamping connecting piece 2, so that the 3D printing template 1 is clamped;
the optical navigation device 8 is used to track the optical bead 4.
In this embodiment, a concrete structure of the auxiliary radiotherapy constant force tracking system is provided, and the structure is simple, so that the constant force tracking of the 3D printing template 1 can be realized according to the fluctuation of the chest of a human body, the fixation of the 3D printing template 1 through manual work is avoided, and the manual work is prevented from being exposed in the radiotherapy environment.
The fifth concrete implementation mode: the following describes the constant force tracking method implemented by the constant force tracking system for radiotherapy according to the fourth embodiment with reference to fig. 1 to 4, where the specific process of the constant force tracking method is as follows:
s1, pushing the 3D printing template 1 to the focus position through the mechanical arm 9, enabling the initial pose of the 3D printing template 1 to be in a preset pose, and meanwhile, giving the pre-pressure of the 3D printing template 1 to position the pose of the 3D printing template 1;
s2, in the puncturing process, the optical navigation device 8 calculates the current pose of the 3D printing template 1 according to the positions of the N optical pellets 4 in real time, and the upper computer controls the mechanical arm 9 to move according to the difference between the current pose and the preset pose, so that the mechanical arm 9 drives the 3D printing template 1 to move to the preset pose;
and then the force/torque sensor 7 senses the resistance of the mechanical arm 9 in real time, and adjusts the resistance of the mechanical arm 9 in real time according to the deviation between the current resistance and the pre-pressure, so that the resistance and the pre-pressure are kept constant, and the constant-force tracking of the 3D printing template 1 is realized.
In the specific application of the embodiment, the 3D printing template 1 is pushed to the focus position, so that the initial pose of the 3D printing template is in the preset pose, meanwhile, the pre-pressure of the 3D printing template 1 is given, the resistance of the mechanical arm 9 is sensed by the force/torque sensor 7 in real time, the resistance of the mechanical arm 9 is adjusted in real time, the resistance and the pre-pressure are kept constant, the constant-force tracking of the 3D printing template 1 is realized, the tracking precision is high, the operation of the whole process is simple, and the implementation is convenient.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.

Claims (5)

1. The puncture template based on optical positioning comprises a 3D printing template (1) and a clamping connecting piece (2), and is characterized by further comprising N positioning reference columns (3) and N optical pellets (4); n is an integer;
the clamping connecting piece (2) is fixed in the middle of the lower end of the 3D printing template (1);
the 3D printing template (1) is of a curved surface structure, and a plurality of puncture needle channels (1-1) are arranged on the 3D printing template;
the N positioning reference columns (3) are fixed on the upper surface of the 3D printing template (1), and an optical small ball (4) is fixed at the top end of each positioning reference column (3);
the middle of the lower end of the 3D printing template (1) is provided with a clamping connecting piece (2), and the clamping connecting piece (2) is fixedly connected with a clamping jaw (5) on the mechanical arm (9).
2. The optical positioning-based piercing template of claim 1, characterized in that the upper surface of the 3D printing template (1) is provided with a plurality of hollowed-out holes (1-2).
3. The puncture template based on optical positioning according to claim 1, wherein the top end of the positioning reference column (3) is fixed with the optical ball (4) in a manner of insertion.
4. The constant-force tracking system for auxiliary radiotherapy realized by adopting the puncture template based on optical positioning as claimed in claim 1 is characterized in that the constant-force tracking system further comprises a clamping jaw (5), a quick-change interface (6), a force/torque sensor (7), an optical navigation device (8) and a mechanical arm (9);
the tail end of the mechanical arm (9) is provided with a quick-change interface (6), the force/torque sensor (7) is clamped between the tail end of the mechanical arm (9) and the head end of the quick-change interface (6), and the tail end of the quick-change interface (6) is fixed with a clamping jaw (5);
the clamping jaw (5) is used for clamping the clamping connecting piece (2), so that the 3D printing template (1) is grabbed and fixed;
the optical navigation device (8) is used for tracking the optical ball (4).
5. The constant force tracking method realized by the auxiliary radiotherapy constant force tracking system of claim 4 is characterized in that the constant force tracking method comprises the following specific processes:
s1, pushing the 3D printing template (1) to a focus position through the mechanical arm (9), enabling the initial pose of the 3D printing template to be in a preset pose, and meanwhile, giving pre-pressure to the 3D printing template (1) to position the pose of the 3D printing template (1);
s2, in the puncturing process, the optical navigation equipment (8) calculates the current pose of the 3D printing template (1) in real time according to the positions of the N optical pellets (4), and the upper computer controls the mechanical arm (9) to move according to the difference between the current pose and the preset pose, so that the mechanical arm (9) drives the 3D printing template (1) to move to the preset pose;
and then the force/torque sensor (7) senses the resistance of the mechanical arm (9) in real time, and the magnitude of the resistance of the mechanical arm (9) is adjusted in real time according to the deviation between the current resistance and the pre-pressure, so that the resistance and the pre-pressure are kept constant, and the constant-force tracking of the 3D printing template (1) is realized.
CN202210147701.2A 2022-02-17 2022-02-17 Puncture template based on optical positioning, auxiliary radiotherapy constant force tracking system and method Active CN114404824B (en)

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN206325116U (en) * 2016-10-21 2017-07-14 北京启麟科技有限公司 A kind of 3D printing guide plate for Minimally Invasive Surgery
CN206324839U (en) * 2016-10-21 2017-07-14 北京启麟科技有限公司 A kind of 3D printing guide plate for Minimally Invasive Surgery
CN207236831U (en) * 2017-03-10 2018-04-17 柳州市丹典贸易有限公司 Fixing device of 3D printing template for puncture
CN208319311U (en) * 2017-11-01 2019-01-04 于江平 A kind of 3D printing personalization plunger type puncture for treating template of the fixed device of band
CN112807086A (en) * 2021-02-05 2021-05-18 新博医疗技术有限公司 Operation navigation device and method based on template
CN113662669A (en) * 2021-08-30 2021-11-19 华南理工大学 Optical power fusion tail end clamp holder and positioning control method thereof
CN215584362U (en) * 2021-02-05 2022-01-21 新博医疗技术有限公司 Operation navigation device based on template

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN206325116U (en) * 2016-10-21 2017-07-14 北京启麟科技有限公司 A kind of 3D printing guide plate for Minimally Invasive Surgery
CN206324839U (en) * 2016-10-21 2017-07-14 北京启麟科技有限公司 A kind of 3D printing guide plate for Minimally Invasive Surgery
CN207236831U (en) * 2017-03-10 2018-04-17 柳州市丹典贸易有限公司 Fixing device of 3D printing template for puncture
CN208319311U (en) * 2017-11-01 2019-01-04 于江平 A kind of 3D printing personalization plunger type puncture for treating template of the fixed device of band
CN112807086A (en) * 2021-02-05 2021-05-18 新博医疗技术有限公司 Operation navigation device and method based on template
CN215584362U (en) * 2021-02-05 2022-01-21 新博医疗技术有限公司 Operation navigation device based on template
CN113662669A (en) * 2021-08-30 2021-11-19 华南理工大学 Optical power fusion tail end clamp holder and positioning control method thereof

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