CN207462453U - A kind of surgical robot system of guided radiation seeds implanted - Google Patents
A kind of surgical robot system of guided radiation seeds implanted Download PDFInfo
- Publication number
- CN207462453U CN207462453U CN201720203537.7U CN201720203537U CN207462453U CN 207462453 U CN207462453 U CN 207462453U CN 201720203537 U CN201720203537 U CN 201720203537U CN 207462453 U CN207462453 U CN 207462453U
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- CN
- China
- Prior art keywords
- surgical robot
- robot system
- seeds implanted
- guided radiation
- rocking bar
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Abstract
The utility model discloses a kind of surgical robot systems of guided radiation seeds implanted, the support plate of universal wheel is provided with including lower end, the support plate upper end is provided with the babinet for accommodating calculating host, the babinet upper end is provided with operation panel, and the adjusting bracket of supporting display screen is provided on the operation panel and clamping guiding template reaches the clamping mechanical arm in specified region.The utility model is easy to operate, safety, and positioning accuracy is high, flexibility is strong, can fast and accurately realize auxiliary positioning and the calibration of Minimally Invasive Surgery, and realize automation control.Tumor anatomical structure target area is merged with functional metabolism target area, is capable of the precision of the raising operation puncturing of high degree, it is ensured that the accuracy of seeds implanted and the accuracy of radiological dose.
Description
Technical field
The utility model belongs to a kind of medical instrument, and in particular to a kind of operating robot of guided radiation seeds implanted
System.
Background technology
The radioactive prospecting instrument under CT guiding, because its prolonged exposure makes death of neoplastic cells, and to normal surrounding tissue
Extremely low, few intercurrent disease is influenced, is widely used to the treatment of malignant tumour.Especially the U.S. is become in the treatment of prostate cancer
The standard care means that guide is recommended.
But for non-prostate cancer seeds implanted, the main problem that technique at home and abroad faces at present is：1. target area
Not precisely, Partial tumors cannot clearly show target area profile on CT images, and plain CT image can not provide biological target area letter
Breath.2. it punctures not precisely：Implantation particle process depends critically upon the clinical experience of doctor, is implanted into precision and efficiency is low, implantation
As a result and curative effect varies with each individual, significant difference.3. dosage is not accurate：For other knurl kinds other than prostate cancer, preoperative TPS is controlled
There are different degrees of disconnections with treatment implementation process in art for treatment plan, and true operation and preoperative plan multiplicity are poor, are implanted into grain
The position of son is commonly present relatively large deviation with the position of preoperative plan, and Dose distribution can not ensure, easily cause dosage cold-zone and heat
Area.
The above problem seriously constrains the Normalization of seeds implanted technology and the popularization of clinical practice, while also shadow
The promotion of particle therapy accuracy is rung.
Invention content
The utility model for solve the problems, such as it is of the existing technology propose, the purpose is to provide a kind of guided radiation grain
The surgical robot system of son implantation.
The technical solution of the utility model is：A kind of surgical robot system of guided radiation seeds implanted, including under
End is provided with the support plate of universal wheel, and the support plate upper end is provided with the babinet for accommodating calculating host, the babinet upper end
Operation panel is provided with, the adjusting bracket and clamping guiding template that supporting display screen is provided on the operation panel reach specified region
Clamping mechanical arm.
The clamping mechanical arm includes the rotating bar being inserted into operation panel, and the rotating bar other end is provided with shaking for swing
Bar, the other end of rocking bar are provided with flexible rocking bar, and the telescopic end of the flexible rocking bar is provided with U-shaped nipper, nipper open end
It is provided with the grip block of clamping guiding template.
The grip block is U-shaped, and No. I driving motor, No. II driving motor, institute are respectively arranged at the outer wall of grip block both sides
State No. I driving motor, No. II driving motor passes through grip block side wall driving guiding template.
The rotational angle that No. I driving motor, No. II driving motor driving guide template is positive and negative 90 °.
The rotating bar drives rotation by the motor in babinet, and the rotation angle of the rotating bar is positive and negative 180 °.
Driven wheel of differential, the driven wheel of differential and rotating bar are provided in the fixing axle that the rocking bar is inserted into rotating bar
In the engagement of motor-driven drive bevel gear.
Driven wheel of differential, the driven wheel of differential and rocking bar are provided in the fixing axle that the flexible rocking bar is inserted into rocking bar
In the engagement of motor-driven drive bevel gear.
The rack and pinion mechanism for realizing Telescopic is provided in the flexible rocking bar.
The uniformly distributed guide hole of equidistant array, the guiding template transverse and longitudinal both direction difference are formed in the guiding template
It is provided with lateral mark, the longitudinal direction mark of mark guide hole.
The guiding template is made of saturating X-ray material through 3D printing.
The utility model is easy to operate, safety, and positioning accuracy is high, flexibility is strong, can fast and accurately realize Minimally Invasive Surgery
Auxiliary positioning and calibration, and realize automation control.Tumor anatomical structure target area is merged with functional metabolism target area, Neng Gouji
The precision of the raising operation puncturing of big degree, it is ensured that the accuracy of seeds implanted and the accuracy of radiological dose.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the stereogram that mechanical arm is clamped in the utility model；
Fig. 3 is the stereogram that template is guided in the utility model；
Wherein：
1 support plate, 2 universal wheel
3 babinet, 4 operation panel
5 adjusting bracket, 6 display screen
7 clamping mechanical arms 8 guide template
9 lifter plates
701 rotating bar, 702 rocking bar
703 flexible 704 nippers of rocking bar
705 driving motors of grip block 706 I
707 No. II driving motors
801 guide hole 802 laterally identifies
803 longitudinal direction marks.
Specific embodiment
Hereinafter, the utility model is described in detail with reference to drawings and examples：
As shown in Fig. 1 ~ 3, a kind of surgical robot system of guided radiation seeds implanted is provided with universal including lower end
The support plate 1 of wheel 2,1 upper end of support plate are provided with the babinet 3 for accommodating calculating host, and 3 upper end of babinet is provided with behaviour
Make plate 4, the adjusting bracket 5 and clamping guiding template 8 that supporting display screen 6 is provided on the operation panel 4 reach specified region
Clamp mechanical arm 7.
The clamping mechanical arm 7 includes the rotating bar 701 being inserted into operation panel 4, and 701 other end of rotating bar is provided with pendulum
Dynamic rocking bar 702, the other end of rocking bar 702 are provided with flexible rocking bar 703, and the telescopic end of the flexible rocking bar 703 is provided with U-shaped
Nipper 704,704 open end of nipper be provided with clamping guiding template 8 grip block 705.
The grip block 705 is U-shaped, and 706, No. II drives of No. I driving motor are respectively arranged at 705 both sides outer wall of grip block
Dynamic motor 707, described 706, No. II driving motors 707 of No. I driving motor pass through 705 side wall of grip block driving guiding template 8.
The rotational angle of 706, No. II driving guiding templates 8 of driving motor 707 of No. I driving motor is positive and negative 90 °.
The rotating bar 701 drives rotation by the motor in babinet 3, and the rotation angle of the rotating bar 701 is positive and negative
180°。
Be provided with driven wheel of differential in the fixing axle that the rocking bar 702 is inserted into rotating bar 701, the driven wheel of differential with
Motor-driven drive bevel gear engagement in rotating bar 701.
Driven wheel of differential, the driven wheel of differential are provided in the fixing axle that the flexible rocking bar 703 is inserted into rocking bar 702
It is engaged with drive bevel gear motor-driven in rocking bar 702.
The rack and pinion mechanism for realizing Telescopic is provided in the flexible rocking bar 703.
The uniformly distributed guide hole 801 of equidistant array, two sides of guiding 8 transverse and longitudinal of template are formed in the guiding template 8
To lateral mark 802, the longitudinal direction mark 803 for being respectively arranged with mark guide hole 801.
The guiding template 8 is made of saturating X-ray material through 3D printing.
1 lower end of support plate is provided with lifter plate 9, and the lifter plate 9 is by Driven by Hydraulic Cylinder, the row of the lifter plate 9
Journey is more than the distance between support plate 1 and ground.
The lifter plate 9 can avoid babinet 3 from shaking, while can avoid the movement of universal wheel 2 during the work time.
The shape of the lifter plate 9 can be, but not limited to cross.
The course of work of the utility model is as follows：
Before treatment patients, the biological target area image information for carrying SPECT or PET tumor metabolic information is obtained,
Support plate 1 is pushed into CT sides, is fixed by lifter plate 9, CT scan is carried out using identical position, obtains CT DICOM figures
CT scan information is input in host by picture, by this input results and SPECT the or PET tumour functions of scanning acquisition before
Metabolic images information carries out different machine fusion, then inputs fused image in host TPS treatment planning systems modules, formulates art
Middle plan, determines seeds implanted range, and needle angle is implanted into the number of plies and port number, export DVH figures and dosimetry parameter.
Host is obtained according to real-time TPS treatment plans after needing knub position and needle angle information, assigns instruction movement
Rotating bar 701, rocking bar 702, flexible rocking bar 703, nipper 704, the driving motor of driving motor 706, II of grip block 705, I
707, guiding template 8 is driven to be placed into designated position and rotate to specified pose, carries out precisely puncture and radioactive prospecting instrument.
It is in radioactive prospecting instrument art and postoperative, can carry out CT scan obtain art in and postoperative DICOM images, import host TPS systems
Module carries out the optimization of art middle dosage and immediate postoperative quality verification.
The guiding template 8 of the replaceable different pore size of the utility model, can also complete lesion in art biopsy biopsy,
The multinomial minimally-invasive treatment technologies such as Argon helium freeze ablation operation, radio-frequency ablation procedure and microwave ablation operation.
The utility model is easy to operate, safety, and positioning accuracy is high, flexibility is strong, can fast and accurately realize Minimally Invasive Surgery
Auxiliary positioning and calibration, and realize automation control.Tumor anatomical structure target area is merged with functional metabolism target area, Neng Gouji
The precision of the raising operation puncturing of big degree, it is ensured that the accuracy of seeds implanted and the accuracy of radiological dose.
Claims (10)
1. a kind of surgical robot system of guided radiation seeds implanted, universal wheel is provided with including lower end（2）Support plate
（1）, it is characterised in that：The support plate（1）Upper end is provided with the babinet for accommodating calculating host（3）, the babinet（3）Upper end
It is provided with operation panel（4）, the operation panel（4）On be provided with supporting display screen（6）Adjusting bracket（5）Template is guided with clamping
（8）Reach the clamping mechanical arm in specified region（7）.
2. a kind of surgical robot system of guided radiation seeds implanted according to claim 1, it is characterised in that：Institute
State clamping mechanical arm（7）Including being inserted into operation panel（4）In rotating bar（701）, rotating bar（701）The other end is provided with swing
Rocking bar（702）, rocking bar（702）The other end be provided with flexible rocking bar（703）, the flexible rocking bar（703）Telescopic end set
It is equipped with U-shaped nipper（704）, nipper（704）Open end is provided with clamping guiding template（8）Grip block（705）.
3. a kind of surgical robot system of guided radiation seeds implanted according to claim 2, it is characterised in that：Institute
State grip block（705）It is U-shaped, grip block（705）No. I driving motor is respectively arranged at the outer wall of both sides（706）, No. II driving electricity
Machine（707）, No. I driving motor（706）, No. II driving motor（707）Across grip block（705）Side wall driving guiding template
（8）.
4. a kind of surgical robot system of guided radiation seeds implanted according to claim 3, it is characterised in that：Institute
State No. I driving motor（706）, No. II driving motor（707）Driving guiding template（8）Rotational angle be positive and negative 90 °.
5. a kind of surgical robot system of guided radiation seeds implanted according to claim 2, it is characterised in that：Institute
State rotating bar（701）By babinet（3）In motor driving rotation, the rotating bar（701）Rotation angle be positive and negative 180 °.
6. a kind of surgical robot system of guided radiation seeds implanted according to claim 2, it is characterised in that：Institute
State rocking bar（702）It is inserted into rotating bar（701）In fixing axle on be provided with driven wheel of differential, the driven wheel of differential and rotating bar
（701）In the engagement of motor-driven drive bevel gear.
7. a kind of surgical robot system of guided radiation seeds implanted according to claim 2, it is characterised in that：Institute
State flexible rocking bar（703）It is inserted into rocking bar（702）In fixing axle on be provided with driven wheel of differential, the driven wheel of differential and rocking bar
（702）In the engagement of motor-driven drive bevel gear.
8. a kind of surgical robot system of guided radiation seeds implanted according to claim 2, it is characterised in that：Institute
State flexible rocking bar（703）In be provided with realize Telescopic rack and pinion mechanism.
9. a kind of surgical robot system of guided radiation seeds implanted according to claim 1, it is characterised in that：Institute
State guiding template（8）It is middle to form the uniformly distributed guide hole of equidistant array（801）, the guiding template（8）Transverse and longitudinal both direction point
It is not provided with mark guide hole（801）Lateral mark（802）, longitudinal direction mark（803）.
10. a kind of surgical robot system of guided radiation seeds implanted according to claim 9, it is characterised in that：
The guiding template（8）It is made of saturating X-ray material through 3D printing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720203537.7U CN207462453U (en) | 2017-03-03 | 2017-03-03 | A kind of surgical robot system of guided radiation seeds implanted |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720203537.7U CN207462453U (en) | 2017-03-03 | 2017-03-03 | A kind of surgical robot system of guided radiation seeds implanted |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207462453U true CN207462453U (en) | 2018-06-08 |
Family
ID=62254884
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720203537.7U Expired - Fee Related CN207462453U (en) | 2017-03-03 | 2017-03-03 | A kind of surgical robot system of guided radiation seeds implanted |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207462453U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108670375A (en) * | 2018-07-16 | 2018-10-19 | 天津赛德生物制药有限公司 | A kind of prostate radiation seeds implanted system of biplane ultrasonic guiding |
| CN109173086A (en) * | 2018-09-20 | 2019-01-11 | 成都真实维度科技有限公司 | The system that best radioactive particle distributing position and quantity are obtained using tumor imaging |
-
2017
- 2017-03-03 CN CN201720203537.7U patent/CN207462453U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108670375A (en) * | 2018-07-16 | 2018-10-19 | 天津赛德生物制药有限公司 | A kind of prostate radiation seeds implanted system of biplane ultrasonic guiding |
| CN109173086A (en) * | 2018-09-20 | 2019-01-11 | 成都真实维度科技有限公司 | The system that best radioactive particle distributing position and quantity are obtained using tumor imaging |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180608 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |