CN206534993U - A kind of tumor radiotherapy seeds implanted aids in automatic positioning mechanism - Google Patents
A kind of tumor radiotherapy seeds implanted aids in automatic positioning mechanism Download PDFInfo
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- CN206534993U CN206534993U CN201621150393.5U CN201621150393U CN206534993U CN 206534993 U CN206534993 U CN 206534993U CN 201621150393 U CN201621150393 U CN 201621150393U CN 206534993 U CN206534993 U CN 206534993U
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Abstract
Automatic positioning mechanism is aided in the utility model discloses a kind of tumor radiotherapy seeds implanted, including pedestal, level are to linear module, arc-shaped guide rail, arc sliding module, vertical to linear module, support arm, head, steering wheel and template；Level is arranged on pedestal to linear module, in level to being provided with linear module along the slider I moved left and right；The lower end of arc-shaped guide rail is fixed in slider I, and the floor projection of arc-shaped guide rail extends along the longitudinal direction；Arc sliding module is arranged on arc-shaped guide rail；The vertical side that arc sliding module is arranged on to linear module, vertically on linear module provided with the sliding block II vertically moved；Support arm is extended laterally, and upper end is fixed on sliding block II；Head is fixed in the lower end of support arm；Steering wheel is connected with cloud platform rotation；Template is affixed by rigid connector with steering wheel, and electromagnetic location instrument sensor contact, inclinator and proximity switch are provided with rigid connector.The utility model efficiently, accurately, is conveniently, safely operated.
Description
Technical field
The utility model is related to medical instruments field, belongs to the front subject that machinery intersects with medical science radiotherapy field, is one
Plant the self-oscillate position servicing unit for extracranial tumors seeds implanted radiotherapy.
Background technology
In the treatment of extracranial tumors, as a kind of important therapeutic modality, radiotherapy is increasingly taken seriously.Radiotherapy
Process is to irradiate neoplastic lesion tissue by various high-energy rays, to reach the treatment method for suppressing and killing cancer cell.Existing rank
The radiotherapy tumour mode different according to its of section, can be divided into remote radiotherapy and brachytherapy.Put at a distance
Treatment is that outside human body ray focusing is carried out into short irradiation to body surface or in-vivo tumour position by roentgenotherapia machine etc., with
Play a part of killing tumour cell, the therapeutic modality represented is external exposure.Brachytherapy is leaned on by radionuclide
Nearly tumor locus, relies primarily on gamma-rays suppression, killing tumor cell, and the therapeutic modality of representative mainly has125I seeds implanted formulas
Treatment with192Ir after-loading therapies.
It is used as a kind of brachytherapy treatment means, radioactivity125I seeds implanteds are applied to clinical treatment by more and more
And achieve extraordinary curative effect.Treated compared to traditional telecurie irradiation, the radiotherapy of seeds implanted formula has many
Advantage：1) particle reduces radioactive damage of the radionuclide to normal surrounding tissue by inside accurate implantation tumour, will not
Cause the possible permanent damage to tissue skin surface such as external exposure.2) because particle is by permanent implanted tumor tissues, because
This its irradiation position is fixed, can be moved with patient, continuation can be caused to injure tumor tissues, curative effect is also more obvious.
3) implantation number of particles can change according to patient's concrete condition, with greater flexibility.By controlling number of particles and grain
Sub- position, preferably surrounds therapy area, reaches comparatively ideal radiation dose distribution, therefore complication is less.Pass through major doctors
Chief minister treats the situation of tumour with radioactive prospecting instrument formula, and the accurately implantation of particle is most important, and it is related to tumor target
Dosage distribution, be directly connected to radiotherapy effect.
Current particle implantation method be：The support manual by adjusting, which is fixed, punctures template, is then inserted by template
Puncture needle is implanted into particle.During manual regulation, the angular error of template end it is difficult to ensure that, precision is relatively low, in turn results in
Seeds implanted positional precision is relatively low.And the process adjusted manually takes very much.
The content of the invention
It is auxiliary that the utility model technical problem present in solution known technology provides a kind of tumor radiotherapy seeds implanted
Automatic positioning mechanism is helped, the mechanism can be accurately positioned radiotherapy particle implantation template, and greatly shorten positioning time.
The utility model is adopted the technical scheme that to solve technical problem present in known technology：A kind of tumour is put
Treat seeds implanted auxiliary automatic positioning mechanism, including pedestal, level are to linear module, arc-shaped guide rail, arc sliding module, vertical
To linear module, support arm, head, steering wheel and template；The level is arranged on the pedestal to linear module, in the water
Put down to linear module and be provided with along the slider I moved left and right；The lower end of the arc-shaped guide rail is fixed in the slider I, described
The floor projection of arc-shaped guide rail extends along the longitudinal direction；The arc sliding module is arranged on the arc-shaped guide rail；It is described perpendicular
The straight side that the arc sliding module is arranged on to linear module, it is described it is vertical on linear module provided with vertically moving
Sliding block II；The support arm is extended laterally, and upper end is fixed on the sliding block II；The head is fixed in the support arm
Lower end；The steering wheel is connected with the cloud platform rotation；The template is affixed by rigid connector with the steering wheel, described firm
Electromagnetic location instrument sensor contact, inclinator and proximity switch are installed on property connector.
The radian of the arc-shaped guide rail is 90 °, and the pedestal uses full symmetrical configuration, in the body two of the arc-shaped guide rail
End is respectively connected with a U-shaped plug, and an affixed T-shaped socket in the slider I, the U-shaped plug is inserted on the T-shaped socket simultaneously
Adopt and be tightened by bolts, handwheel is provided with the head of the bolt.
The level uses lead screw guide rails structure to linear module, and the lead screw guide rails structure is used with self-locking thread
Leading screw, the leading screw is set in left-right direction, and the slider I is connected with the leading screw, and the leading screw is driven by motor I.
The arc sliding module is arranged on the body of the arc-shaped guide rail, including arc sliding matrix, in the arc
Shape is slided and is fixed with guide roller and guide runner on matrix, and the guide roller and the guide runner are equipped with V-groove,
The body of the arc-shaped guide rail is provided with the slide rail and rack being adapted to the V-groove, and the guide roller and the guiding are slided
Block is assemblied on the slide rail by the V-groove, and gear is engaged with the rack, and the gear is driven by motor II,
The motor II and the gear are installed on the arc sliding matrix, and band-type brake module is provided with the motor II.
The support arm uses engraved structure, and uses aluminum alloy material.
The utility model has the advantages and positive effects of：Corresponding locking system is coordinated using high-precision stepper motor
And self-locking structure, it is possible to achieve while in high precision in place, facilitate structure latches, enhance integrally-built security.Knot
Structure is using the unilateral configurations of 90 ° of arc-shaped guide rails, closer in patient body-surface, and utilizes symmetrical structure, passes through operated by handwheel, convenient
Dismounting, the bilateral for realizing mechanism installs in place, has expanded the working range of mechanism, so that the effect for the treatment of is maximized.Machine
The mould material of structure end is using makrolon compatible CT, while this kind of material transparent, facilitates during surgical to entering
The observation of pin situation.The base construction of mechanism is symmetrical, capable of reversing to be clamped in CT and connect bed both sides, in surgical procedure is implemented, can be with
Patient, sick bed take multiple scan into CT scan cavity together.The rotary freedom of end uses servo driving, is mitigating machine
While structure weight, mechanism space-consuming is substantially reduced.In summary, the utility model efficiently, accurately, conveniently, safely faces
Bed operation.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is arc sliding module of the present utility model and arc-shaped guide rail assembling schematic diagram；
Fig. 3 is the schematic internal view that arc sliding module of the present utility model and arc-shaped guide rail are assembled；
Fig. 4 is that end structure of the present utility model refines schematic diagram.
In figure：1st, pedestal, 2-1, motor I, 2-2, slider I, 2-3, T-shaped socket, 2-4, leading screw, 3, handwheel, 4-1, sheet
Body, 4-2, U-shaped plug, 4-3, slide rail, 4-4, rack, 5-1, arc sliding matrix, 5-2, guide roller, 5-3, guide runner,
5-4, gear, 5-5, motor II, 6-1, sliding block II, 7, support arm, 8, head, 9, steering wheel, 10, rigid connector, 11, template.
Embodiment
For invention, features and effects of the present utility model can be further appreciated that, following examples are hereby enumerated, and coordinate
Accompanying drawing describes in detail as follows：
Refer to Fig. 1~Fig. 4, a kind of tumor radiotherapy seeds implanted aids in automatic positioning mechanism, including pedestal 1, level to
It is linear module, arc-shaped guide rail, arc sliding module, vertical to linear module, support arm 7, head 8, steering wheel 9 and template 11.
The pedestal 1 is connected on the bed board of bed using mounting screw installed in CT, and pedestal 1 uses full symmetrical configuration, can be by
Left side or right side that CT connects bed are arranged on according to job requirement, the bilateral work pendulum position of mechanism is realized, it is ensured that the mechanism can be in CT
Even the left and right sides of bed is freely fixed, and increases the working space of mechanism.
The level is arranged on the pedestal 1 to linear module, in the level to being provided with linear module along left and right
Mobile slider I 2-2；The level uses lead screw guide rails structure to linear module, and the lead screw guide rails structure, which is used, to be had certainly
The leading screw 2-4 of screw thread is locked, the leading screw 2-4 is set in left-right direction, and the slider I 2-2 is connected with the leading screw 2-4,
The leading screw 2-4 is driven by the 2-1 of motor I, drives the mechanism to realize the adjustment of the left and right free degree, when adjusting to operating position,
Level can realize self-locking, fixed position to linear module by the self-locking thread of leading screw.
The radian of the arc-shaped guide rail is 90 °, and the lower end of the arc-shaped guide rail is fixed on the slider I 2-2, the arc
The floor projection of shape guide rail extends along the longitudinal direction.
The built-in structure of the arc-shaped guide rail and the slider I 2-2 is：It is each at the body 4-1 two ends of the arc-shaped guide rail
A U-shaped plug 4-2 is connected with, an affixed T-shaped socket 2-3 on the slider I 2-2, U-shaped plug 4-2 is inserted in T-shaped socket 2-3
Go up and adopt and be tightened by bolts, handwheel 3 is provided with the head of the bolt.The structure can quickly realize the commutation of arc-shaped guide rail,
During commutation, bolt is now unclamped, the arc-shaped guide rail is removed, pedestal 1 is then moved to the opposite side that CT connects bed, by the arc
Guide rail two ends are reverse to be arranged on T-shaped socket 2-3, and then realizes that the mechanism will in the installable work in the sick bed left and right sides
Ask, realize the bilateral job requirement of the mechanism, and widened the patient below arc-shaped guide rail and lie bit space, make it easier for facing
Bed operation.
The arc sliding module is arranged on the body 4-1 of the arc-shaped guide rail, including arc sliding matrix 5-1,
Guide roller 5-2 and guide runner 5-3, the guide roller 5-2 and the guiding are fixed with the arc sliding matrix 5-1
Sliding block 5-3 is equipped with V-groove, provided with the slide rail 4-3 and tooth being adapted to the V-groove on the body 4-1 of the arc-shaped guide rail
Bar 4-4, the guide roller 5-2 and the guide runner 5-3 are assemblied on the slide rail 4-3 by the V-groove, in institute
State and gear 5-4, the gear 5-4 are engaged with rack 4-4 by the 5-5 of motor II drivings, the 5-5 of motor II and the gear 5-
4 are installed on the arc sliding matrix 5-1, and band-type brake module is provided with the 5-5 of motor II, can make mechanism in fixed bit
Appearance is locked.The 5-5 of motor II drives body 4-1 of the arc sliding module along the arc-shaped guide rail to slide.
The vertical side that the arc sliding module is arranged on to linear module, it is described vertical to linear module and institute
State level identical to linear modular structure, arranged direction is different, and the free degree of above-below direction is provided for mechanism, it is described vertically to
Linear module is provided with the 6-1 of sliding block II vertically moved.
The support arm 7 is extended laterally, and upper end is fixed on the 6-1 of sliding block II.The support arm 7 uses hollow out knot
Structure, and aluminum alloy material is used, mechanism end carrying can be greatly decreased.
The head 8 is fixed in the lower end of the support arm 7.
The steering wheel 9 is rotated with the head 8 and is connected, and is that template 11 provides the deflection free degree.
The template 11 is affixed by rigid connector 10 with the steering wheel 9, is provided with the rigid connector 10
Electromagnetic location instrument sensor contact, inclinator and proximity switch.Proximity switch ensure that mechanism, close to security during human body, inclines
Angle instrument can feed back the work inclination angle of template, and electromagnetic location instrument can Real-time Feedback template pose；These sensors can effectively ensure that
The positioning of mechanism, pendulum position precision.
Above-mentioned tumor radiotherapy seeds implanted auxiliary automatic positioning mechanism has altogether four frees degree, can fully achieve mould
The work pendulum position of plate 11 is required.Template 11 uses makrolon material, this kind of material transparent, facilitates sight during surgical
Survey into pin situation, and CT can completely compatible this kind of material, the requirement being scanned at any time in surgical procedure can be met.
Inclinator, proximity switch and electromagnetic location instrument sensor contact, inclination angle are installed on the rigid connector being connected with the end of steering wheel 9
Instrument is used for the inclination angle situation of detection template, determines that transplanting pin enters after pin angle by doctor, steering wheel 9 is determined according to template inclination angle situation
The anglec of rotation, so as to carry out the adjustment of template deflection angle；Meanwhile, proximity switch can be when template 9 be close to patient body-surface
Signal is sent to control system, control system is sent alarm and controls corresponding motor, steering wheel to slow down, reach security protection
Effect；Electromagnetic location instrument sensor contact according to the pose of the coordinates feedback template of demarcation, can carry out the pendulum position adjustment of template in time.
When every pose, which is adjusted, make it that template pendulum position reaches specified location, motor stalling, band-type brake are held tightly, and the pose of template is fixed, and are cured
Life can carry out the operation puncturing work of next step.
In terms of material, to meet lighting requirement, the big multiple component of the mechanism uses aluminum alloy materials, other related work(
Energy property part is according to actual operation requirements using the manufacture such as engineering plastics.Overall structure realizes seat respectively by three servomotors
Mark system X, Y, the pendulum position of Z-space point position are fixed, and are realized and are deflected by steering wheel, have four frees degree, can meet face completely
Bed demand.In order to realize the portability requirement of mechanism design, mechanism employs 90 ° of designed arc-shaped appearances, but can by easily installing
To realize fixation of the mechanism the CT left and right sides, so as to reach comprehensive mechanism pendulum position, working space is set to expand.
During work, above-mentioned tumor radiotherapy seeds implanted auxiliary automatic positioning mechanism can connect bed with CT and freely enter
Go out CT cavities, focus scanning in real time in patient's art can be achieved, with very big flexibility.
Realizing radioactive particle125During the minimally-invasive treatment of I implantation within a patient, it is necessary first to pass through patient negative
Pad of calming the anger is fixed on CT and connected on bed, and then patient's pendulum position is demarcated using electromagnetic location instrument, determines patient in coordinate system
Position.Then CT scan is carried out to patient, defines tumor target, determine lesions position.Transplanting of the doctor to piercing tumor region
Pin carries out pre-planning, now determines piercing angle, position and the needle track number of transplanting pin.Mould is then determined according to pre-planning
This detent mechanism is installed on CT and connected on bed, by electromagnetic location instrument to this detent mechanism by plate in the pendulum position position of patient body-surface
Carry out location position.Control system is calculated relative position coordinates, transmits data, motor and steering wheel is rotated respective corners
Degree, finally causes detent mechanism to carry template and reach area for treatment, and band-type brake is fixed.In surgical procedure, doctor can pass through fixation
Needle track through hole in template is implanted into transplanting pin to tumor tissues, is then put by the hollow transplanting pin in middle part to tumor tissues implantation
Penetrating property particle125I implements treatment.
Although preferred embodiment of the present utility model is described above in conjunction with accompanying drawing, the utility model is not
Above-mentioned embodiment is confined to, above-mentioned embodiment is only schematical, is not restricted, ability
The those of ordinary skill in domain is not departing from the utility model objective and claimed under enlightenment of the present utility model
Under ambit, many forms can also be made, these are belonged within protection domain of the present utility model.
Claims (5)
1. a kind of tumor radiotherapy seeds implanted aids in automatic positioning mechanism, it is characterised in that including pedestal, level to linear mould
It is group, arc-shaped guide rail, arc sliding module, vertical to linear module, support arm, head, steering wheel and template；The level is to linear
Module is arranged on the pedestal, in the level to being provided with linear module along the slider I moved left and right；The arc-shaped guide rail
Lower end be fixed in the slider I, the floor projection of the arc-shaped guide rail extends along the longitudinal direction；The arc sliding module
On the arc-shaped guide rail；The vertical side that the arc sliding module is arranged on to linear module, described perpendicular
It is straight that the sliding block II vertically moved is provided with to linear module；The support arm is extended laterally, and upper end is fixed in the sliding block II
On；The head is fixed in the lower end of the support arm；The steering wheel is connected with the cloud platform rotation；The template and the rudder
Machine is affixed by rigid connector, and electromagnetic location instrument sensor contact, inclinator are provided with the rigid connector and is approached
Switch.
2. tumor radiotherapy seeds implanted according to claim 1 aids in automatic positioning mechanism, it is characterised in that the arc
The radian of guide rail is 90 °, and the pedestal uses full symmetrical configuration, and it is U-shaped to be respectively connected with one at the body two ends of the arc-shaped guide rail
Plug, an affixed T-shaped socket in the slider I, the U-shaped plug is inserted on the T-shaped socket and adopted and is tightened by bolts,
The head of the bolt is provided with handwheel.
3. tumor radiotherapy seeds implanted according to claim 1 aids in automatic positioning mechanism, it is characterised in that the level
Lead screw guide rails structure is used to linear module, the lead screw guide rails structure uses the leading screw with self-locking thread, the leading screw edge
Left and right directions is set, and the slider I is connected with the leading screw, the leading screw is driven by motor I.
4. tumor radiotherapy seeds implanted according to claim 1 aids in automatic positioning mechanism, it is characterised in that the arc
Sliding module is arranged on the body of the arc-shaped guide rail, including arc sliding matrix, is fixedly mounted with the arc sliding matrix
There are guide roller and guide runner, the guide roller and the guide runner are equipped with V-groove, in the sheet of the arc-shaped guide rail
Body is provided with the slide rail and rack being adapted to the V-groove, and the guide roller and the guide runner are filled by the V-groove
Fit on the slide rail, gear is engaged with the rack, the gear is driven by motor II, the motor II and the tooth
Wheel is installed on the arc sliding matrix, and band-type brake module is provided with the motor II.
5. tumor radiotherapy seeds implanted according to claim 1 aids in automatic positioning mechanism, it is characterised in that the support
Arm uses engraved structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621150393.5U CN206534993U (en) | 2016-10-30 | 2016-10-30 | A kind of tumor radiotherapy seeds implanted aids in automatic positioning mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621150393.5U CN206534993U (en) | 2016-10-30 | 2016-10-30 | A kind of tumor radiotherapy seeds implanted aids in automatic positioning mechanism |
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| CN206534993U true CN206534993U (en) | 2017-10-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621150393.5U Active CN206534993U (en) | 2016-10-30 | 2016-10-30 | A kind of tumor radiotherapy seeds implanted aids in automatic positioning mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106422043A (en) * | 2016-10-30 | 2017-02-22 | 天津大学 | Auxiliary automatic positioning mechanism for tumor radiotherapy seed implantation |
| CN112245765A (en) * | 2020-10-21 | 2021-01-22 | 重庆医科大学附属第一医院 | PICC that can increase puncture success rate puts a tub fixing device |
| CN115089277A (en) * | 2022-06-23 | 2022-09-23 | 哈尔滨理工大学 | Nuclear magnetic compatible mammary gland puncture positioning device |
-
2016
- 2016-10-30 CN CN201621150393.5U patent/CN206534993U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106422043A (en) * | 2016-10-30 | 2017-02-22 | 天津大学 | Auxiliary automatic positioning mechanism for tumor radiotherapy seed implantation |
| CN112245765A (en) * | 2020-10-21 | 2021-01-22 | 重庆医科大学附属第一医院 | PICC that can increase puncture success rate puts a tub fixing device |
| CN115089277A (en) * | 2022-06-23 | 2022-09-23 | 哈尔滨理工大学 | Nuclear magnetic compatible mammary gland puncture positioning device |
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