CN208640847U - A kind of console mode tumour radiotherapy seeds implanted treatment automatic puncturing device - Google Patents
A kind of console mode tumour radiotherapy seeds implanted treatment automatic puncturing device Download PDFInfo
- Publication number
- CN208640847U CN208640847U CN201820387322.XU CN201820387322U CN208640847U CN 208640847 U CN208640847 U CN 208640847U CN 201820387322 U CN201820387322 U CN 201820387322U CN 208640847 U CN208640847 U CN 208640847U
- Authority
- CN
- China
- Prior art keywords
- module
- piercing
- oriented
- oriented module
- stepper motor
- 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.)
- Withdrawn - After Issue
Links
Landscapes
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The utility model discloses a kind of console mode tumour radiotherapy seeds implanteds to treat automatic puncturing device, and major function includes the positioning of puncture needle oriented module and the automatic puncturing of piercing module.The device, which can be realized, replaces different guiders to realize that different parts tumor puncture, oriented module and piercing module cooperate jointly by seeds implanted position, realizes precisely implantation, achievees the purpose that accurate radiotherapy.Using when the device can be placed in CT bedside, puncture needle is implanted guider precise positioning to therapentic part, piercing module by oriented module, the final accurate implantation for realizing radioactive particle.The apparatus structure is stablized, accurate efficient, can be used as the reference of radiotherapy particle implantation ancillary equipment.The positioning of oriented module and piercing module uses rotary freedom, increases working space, while at the end of work, can fold extension and withdraw, significantly reduce and taken up space, is moved easily simultaneously.Crucial freedom degree has limit sensors, guarantees the safety of movement.
Description
Technical field
The utility model patent is related to medical instruments field, belongs to the mechanical front subject intersected with medicine radiotherapy field,
It is related to device therefor and technology in the treatment operation of short distance radioactive particle.Specially a kind of console mode tumour radiotherapy particle is planted
Enter to treat automatic puncturing device.
Background technique
Radiotherapy is one of the main method of current treatment tumour, is divided into fluconazole ear drops and plesioradiotherapy.
Outer radiation, be by roentgenotherapia machine etc. by ray focusing out of the human body, short time photograph is carried out to body surface or in-vivo tumour position
It penetrates, to play the role of killing tumour cell.It closely radiates, is that the radioactive source particle of high dose rate is passed through into external device forever
Long or temporary importing tumour cancer site, to be killed to tumour cell.For a long time, external exposure is radiotherapy
Mainstay.In recent years, plesioradiotherapy is a dark horse, and becomes noticeable treatment side in field of radiation therapy
Method obtains more surprising clinical efficacy.
The method still not truly feasible to solution organ movement of external exposure at present.And the radiation under Imaging Technology guidance
Property particle therapy to be truly realized tumor target dosage higher, normal surrounding tissue damages smaller radiotherapy theory, and
Treatment precision greatly improves.It is treated compared to telecurie irradiation, the radiotherapy of seeds implanted formula has many advantages: 1. low coverages
High dose rate ray can be gathered in tumor locus from radiotherapy, tumour is irradiated from multi-faceted, so that radiation response
More preferably.2. the exposure dose that tumour normal adjacent tissue is subject to is smaller, to protect normal tissue, reduce the side effect of irradiation.
3. implantation number of particles can be changed according to patient's concrete condition, there is greater flexibility.Thus in clinical treatment, particle
Accurate implantation is very crucial, is related to the dosage distribution of tumor target, to be directly related to efficacy result, is badly in need of a kind of essence
The really sting device of reliable seeds implanted treatment.
Utility model content
The utility model is directed to a kind of console mode tumour radiotherapy seeds implanted treatment automatic puncturing of simple possible
Device, major function include the positioning of puncture needle oriented module and the automatic puncturing of piercing module.The device can realize replacement
To realize different parts tumor puncture, oriented module and piercing module cooperate jointly by seeds implanted position different guiders,
It realizes precisely implantation, achievees the purpose that accurate radiotherapy.Using when the device can be placed in CT bedside, oriented module is by guider essence
Certainly position to therapentic part, piercing module implants puncture needle, the final accurate implantation for realizing radioactive particle.The device
Stable structure, it is accurate efficient, it can be used as the reference of radiotherapy particle implantation ancillary equipment.
The purpose of this utility model is achieved through the following technical solutions:
A kind of console mode tumour radiotherapy seeds implanted treats automatic puncturing device, including bottom plate, platform, oriented module and
Piercing module, the bottom base plate are connected with lifting unit support plate by electric pushrod, are connected with by universal wheel mounting rod
Universal wheel, bottom plate top are equipped with electric cylinder, and the electric cylinder side is equipped with electric cylinder stepper motor, and the inside of electric cylinder is set
There is screw structure that can be self-locking, above electric cylinder, the oriented module and piercing module are respectively arranged in the stage+module
The two sides of the platform；
The oriented module includes oriented module sleeve, oriented module turntable, oriented module large arm and oriented module forearm,
The oriented module turntable is equipped with and crossed roller bearing and is set on oriented module sleeve, and the oriented module turntable passes through the
The driving of one stepper motor is equipped with the planetary reduction gear for increasing driving torque between the first stepper motor and oriented module turntable
Device, the oriented module turntable are connected with one end of the oriented module large arm, and the other end of oriented module large arm, which is connected with, leads
To module forearm, it is connected between the oriented module large arm and oriented module forearm by the first cradle head, the first rotation is closed
The joint shaft of section is stretched out and is connected by key below oriented module large arm to be connected with the first synchronous pulley group, the first synchronous pulley
Group is driven by synchronous belt by the second stepper motor equipped with locking system；
The front end of the oriented module forearm is equipped with the second cradle head, and the joint shaft of the second cradle head is from oriented module
The second synchronous pulley group is stretched out and connected in the lower section of forearm, and the second synchronous pulley group is by synchronous belt by the equipped with locking system
The driving of three stepper motors；The joint shaft of second cradle head passes through the second synchronous pulley group and passes through shaft coupling and the 4th stepper motor
It is connected, the motor shaft of the 4th stepper motor is connected with guider mounting plate by shaft coupling, and the guider mounting plate is by leading
Guider is installed to template clamper；
The piercing module includes piercing module sleeve, piercing module turntable, piercing module large arm and piercing module forearm,
The piercing module turntable is installed on piercing module sleeve, and piercing module turntable is driven by the 5th stepper motor, the 5th step
Into the planetary reduction gear being equipped between motor and piercing module turntable for increasing driving torque, piercing module turntable and puncture mould
One end of block large arm is connected, and the other end of piercing module large arm is connected with piercing module forearm, piercing module large arm and puncture mould
It is connected between block forearm by third cradle head, the joint shaft of third cradle head stretches out and led to below piercing module large arm
It crosses key connection to be connected with third synchronous pulley group, third synchronous pulley group is by synchronous belt by the 6th stepping equipped with locking system
Motor driven；
The front end of the piercing module forearm is equipped with the 4th cradle head, and the joint shaft of the 4th cradle head is from piercing module
The 4th synchronous pulley group is stretched out and connected in the lower section of forearm, and the 4th synchronous pulley group is by synchronous belt by the equipped with locking system
The driving of seven stepper motors；The joint shaft of 4th cradle head passes through the 4th synchronous pulley group and passes through shaft coupling and the 8th stepper motor
It is connected, the motor shaft of the 8th stepper motor is connected with puncturing guide rail connecting plate by shaft coupling, on the puncturing guide rail connecting plate
Lead screw puncturing guide rail that can be self-locking is installed, the lead screw puncturing guide rail is equipped with sliding block, and the sliding block has by flanged joint
For driving the 9th stepper motor of the lead screw puncturing guide rail, puncture needle is connected on the motor shaft of the 9th stepper motor
Clamper provides the rotary freedom movement of puncture；The tail portion of the lead screw puncturing guide rail is equipped with the tenth stepper motor, for driving
Dynamic lead screw puncturing guide rail realizes moving forward and backward for sliding block, and then realizes the feed motion punctured.
Further, first cradle head is to the 4th cradle head by upper end cover, multi-diameter shaft, lower cover and two
Tapered roller bearing is constituted.
Further, the first synchronous pulley group is made of to the 4th synchronous pulley group two synchronous pulleys, and first
Synchronous pulley group is driven to circle-arc tooth is all made of between the 4th synchronous pulley group and synchronous belt.
Further, the guider mounting plate is buckled equipped with easy-to-dismount knob, real to replace different guiders
The puncture guiding of existing different parts tumour.
Further, the sting device tool has ten ones degree of freedom.
Further, the piercing module sleeve is higher than the oriented module sleeve.
Further, camera head installation rack, the camera are installed between oriented module forearm and piercing module forearm
It is in the positioning shooting head of 30 degree of depression angles there are two being installed on mounting rack.
Further, the photoelectricity for limit is equipped on the oriented module turntable, piercing module turntable and electric cylinder
Switch.
Further, power supply mounting plate, controller mounting plate and driver mounting plate are also equipped with above the bottom plate.
Compared with prior art, beneficial effect brought by the technical solution of the utility model is:
1. it is utility model device structure novel, convenient, it is technologically simple to implement, facilitate clinical manipulation.Using high-precision
Closed loop stepper motor cooperates locking system and self-locking structure, and high-precision may be implemented in place in closed-loop control, meanwhile, facilitate structure
Locking, enhances integrally-built safety and stability.
2. the device unilateral side configuration, closer in patient body-surface.Bottom elevation fixed cell improves the flexibility of device, opens up
The working range of Zhan Liao mechanism, so that the effect for the treatment of be made to maximize.
3. the device is clearly divided into oriented module and piercing module, successively move, so that movement is more effective, clear.It will close
Key motor postposition reduces the moment of flexure of whole turning torque and rod piece, improves the stability of extension, and synchronous belt ensure that fortune
Dynamic precision.
4. the positioning of oriented module and piercing module uses rotary freedom, increase working space, while terminating in work
When, extension can be folded and be withdrawn, significantly reduced and taken up space, is moved easily simultaneously.There is crucial freedom degree limit to pass
Sensor guarantees the safety of movement.
5. to meet lighting requirement, the most part of the device uses aluminum alloy materials, key position, such as joint shaft, then
Using steel alloy, guarantee mechanical property.Locator is carried out using one group of camera, guarantees accuracy.Whole structure, can be with
Reach the requirement of automatic puncturing device efficiently, accurate, safe.
Detailed description of the invention
Fig. 1 is the overall structure diagram of utility model device.
Fig. 2 is the schematic diagram of internal structure of specific embodiment intermediate station and sleeve.
Fig. 3 is the diarthrodial structural schematic diagram of specific embodiment transfer.
Appended drawing reference: 1- piercing module wrist joint stepper motor 2- puncturing guide rail connecting plate 3- stepper motor 4- is punctured
Module turntable sleeve 5- piercing module elbow joint stepper motor 6- piercing module large arm 7- piercing module turntable 8- shaft coupling
9- stepper motor mounting shell 10- positioning shooting head 11- oriented module wrist joint 12- oriented module forearm 13- oriented module
Wrist joint stepper motor 14- oriented module elbow joint stepper motor 15- synchronous belt and synchronous pulley group 16- oriented module elbow
Joint upper end cover 17- oriented module elbow joint axis 18- oriented module elbow joint lower cover 19- oriented module large arm 20- is same
Step band and synchronous pulley group 21- oriented module turntable 22- oriented module turntable sleeve 23- platform 24- electric cylinder stepping electricity
Machine 25- power supply mounting plate 26- controller mounting plate 27- bottom plate 28- universal wheel mounting rod 29- universal wheel 30- lifting is single
First support plate 31- electric pushrod 32- electric cylinder 33- driver mounting plate 34- camera head installation rack 35- stepper motor
The detachable knob 37- guider mounting plate 38- guiding die plate grip block 39- shaft coupling 40- template direction device 41- of 36- is worn
Pierce 43 stepper motor 44- shaft coupling 45- guide rail flange 46- shaft coupling 47- stepper motor of guide rail 42- puncture needle retaining device
Mounting shell 48- stepper motor 49- synchronous belt and synchronous pulley group 50- piercing module elbow joint 51- synchronous belt and synchronous belt
Wheel group 52- piercing module forearm 53- piercing module wrist joint 54- stepper motor 55- planetary reduction gear 56- screw 57-
Screw 58- tapered roller bearing 59- tapered roller bearing 60- screw 61- screw
Specific embodiment
The utility model will be further described with reference to the accompanying drawing.
In terms of material, it is contemplated that the portability requirement of structure, most of components are using aluminium alloy, other related function
Energy property component is according to actual operation requirements using the manufacture such as steel alloy.Overall structure is driven electronic by a closed loop stepper motor
Cylinder realizes integral elevating movement, completes the space orientation of oriented module and piercing module by four closed loop stepper motors respectively,
It completes to puncture by two stepper motors, can satisfy clinical demand completely.For the requirement on flexibility of realization device design, dress
Mechanism may be implemented by cooperation between the two in the design that bottom set portion uses one group of universal wheel and one group of electric pushrod
The placement in CT each orientation expands bigger working space to reach comprehensive device pendulum position.
During carrying out minimally-invasive treatment, radioactive prospecting instrument patient's body, it is necessary first to the labelling with patient
Point, and patient is fixed on CT bed by negative pressure cushion.Then CT scan is carried out to patient, defines tumor target, determine disease
Stove position.Doctor carries out pre-planning to the transplanting needle for being pierced into tumor region, determine at this time the piercing angle of transplanting needle, position and
Needle track number.It is then drawn on the estimation to determine template behind the pendulum position position of patient body-surface, the end of scan, CT are exited CT
The present apparatus is placed in CT other suitable positions, and is fixed with bottom fixed cell by chamber.Pass through the positioning shooting of device
Head carries out location position to device, human body, and determining device and patient are in the position of coordinate system.Control system is to relative position coordinates
It is calculated, transmits data, stepper motor is made to rotate respective angles.Finally, the oriented module of device is first made to reach treatment region
Domain, and being fixed with band-type brake, after piercing module is reached puncture designated position, and fixed, punctured with band-type brake.Pass through middle part
Hollow transplanting needle is implemented to treat to tumor tissues implantation radiation particle.The following are specific embodiments.
As shown in Figure 1, a kind of console mode tumour radiotherapy seeds implanted treats automatic puncturing device, including it is bottom plate 27, flat
Platform 23, oriented module and piercing module install four universal wheel mounting rods 28 below bottom plate 27, connect four universal wheels 29, complete
At moving freely for device.Installation is equipped with one on each push rod there are four electric pushrod 31 by four universal wheel mounting rods
Lifting unit support plate 30.It is gone up and down simultaneously according to electric pushrod, change moves freely state and stationary state, so as to device placement
In CT different locations.Power supply mounting plate 25, controller mounting plate 26 and driver mounting plate 33 are installed above bottom plate 27,
Control system and device are integrated in one, overall movement is facilitated.One electric cylinder 32 is installed, electric cylinder 32 is by electronic among bottom plate
Cylinder stepper motor 24 drives.Electric cylinder completes the lifting freedom degree movement of main part.A platform 23 is installed above electric cylinder,
Centre is equipped with a positioning camera head installation rack 34, and two positioning shooting heads 10 are installed above camera head installation rack 34, overlook to
Under, to complete vision positioning and registration work.The bottom of this automatic puncturing device has lifting fixed cell, can pass through four
Gone up and down while electric pushrod, the landing of switching universal wheel with it is hanging, i.e. switching moves freely and stationary state, can guarantee the dress
Setting can be fixed in the CT each places in the left and right sides, increase the flexibility ratio and working space of device.Electric pushrod
It moves synchronously, ensure that the depth of parallelism of device and ground in motion process, meanwhile, electric pushrod has self-locking function, in fixation
State ensure that the stability of device.In the process of work, mechanism greatly reduces device not with CT disengaging CT cavities
Influence to CT imaging.It is a kind of screw structure that can be self-locking inside electric cylinder 32 in the present embodiment.With step with encoder
Into motor driven electric cylinder, to the implementation module of realization device, i.e., oriented module and piercing module are in the tune freely up and down spent
Whole, when adjusting to operating position, electric cylinder can realize self-locking, fixed position by the self-locking thread of lead screw.
Oriented module visible Fig. 1 in the present embodiment is equipped with an oriented module turntable sleeve 22 on the right side of platform 23, leads
One oriented module turntable 21 is installed on module turntable sleeve 22, oriented module turntable 21 is connected with an oriented module large arm
19, oriented module turntable 21 completes a rotary freedom of oriented module large arm 19.The connection of 19 other end of oriented module large arm
There is an oriented module forearm 12, the two is connected and rotated by elbow joint.Joint shaft stretches out below the large arm, axis and synchronous belt and
The connection of synchronous pulley group 20, synchronous belt and 20 other end of synchronous pulley group and the oriented module elbow joint stepping for being placed in joint rear
Motor 14 is connected, and to reduce the moment of flexure and turning torque of cantilever, improves device stability.Oriented module elbow joint stepper motor 14
Using the closed loop stepper motor with band-type brake, planetary reduction gear improves torque, is connected with oriented module elbow joint stepper motor 14.On
Oriented module turntable 21 and elbow joint are stated, realizes the adjusting of two freedom degrees around guider.Before oriented module forearm 12
There is an oriented module wrist joint 11 at end, and joint shaft stretches out below oriented module forearm 12, connects synchronous belt and synchronous pulley group
15, synchronous belt and 15 other side of synchronous pulley group connect an oriented module wrist joint stepper motor 13, and connection planetary reduction gear mentions
High torque (HT).Axis passes through synchronous pulley, is connected by a shaft coupling 8 with stepper motor mounting shell 9, is installed in stepper motor mounting shell 9
There is a stepper motor 35, motor shaft is connected by shaft coupling 39 with guider mounting plate 37.Above-mentioned two oriented module wrist joint
Stepper motor 13 and stepper motor 35 realize two rotary freedoms of end guider.Guider mounting plate 37 and guiding module
Between plate grip block 38, there are two detachable knobs 36, are convenient for changing the different guiding such as template direction device 40 or single needle guider
Device.
Piercing module in the present embodiment also visible Fig. 1 is equipped with a piercing module turntable sleeve 4 on the left of platform 23, wears
A piercing module turntable 7 is installed on thorn module turntable sleeve 4, piercing module turntable 7 is connected with a piercing module large arm 6, wears
Pierce the rotary freedom that module turntable 7 completes piercing module large arm 6.6 other end of piercing module large arm is connected with a puncture
Module forearm 52, the two are connected and are rotated by piercing module elbow joint 50.Joint shaft stretches out below piercing module large arm 6,
Axis is connect with synchronous belt and synchronous pulley group 49, the other end and 5 phase of piercing module elbow joint stepper motor for being placed in joint rear
Even, piercing module elbow joint stepper motor 5 uses the closed loop stepper motor with band-type brake, and planetary reduction gear improves torque, with puncture
Module elbow joint stepper motor 5 is connected.Above-mentioned piercing module turntable 7 and elbow joint realize piercing portions front and rear, left and right two certainly
By the adjusting spent.There is a piercing module wrist joint 53 in 52 front end of piercing module forearm, and joint shaft is below piercing module forearm 52
It stretches out, connects synchronous belt and synchronous pulley group 51, the synchronous pulley group other side connects a piercing module wrist joint stepper motor 1,
It connects planetary reduction gear and improves torque.Axis passes through synchronous pulley, is connected by a shaft coupling 46 with stepper motor mounting shell 47, stepping
One stepper motor 48 is installed, motor shaft is connected by shaft coupling 44 with puncturing guide rail connecting plate 2 in motor mounting shell 47.It is above-mentioned
Piercing module wrist joint stepper motor 1 and stepper motor 48, realize two rotary freedoms of piercing portions.Puncturing guide rail connection
One puncturing guide rail 41 is installed, 41 tail portion of puncturing guide rail connects a stepper motor 3, completes to puncture feeding freedom degree on plate 2.It punctures
One guide rail flange 45 is installed, guide rail flange 45 connects a stepper motor 43, the motor shaft of stepper motor 43 on the sliding block of guide rail 41
On have a puncture needle retaining device 42, clamp puncture needle, complete to puncture rotary freedom.
To sum up, the utility model sting device has ten ones degree of freedom altogether, can fully meet wanting for automatic puncturing
It asks.The code used device of the stepper motor being related to is absolute encoder, and turntable and electric cylinder have optoelectronic switch and limited,
Guarantee precision when device movement, while cooperating control system, has the function that security protection.When every pose adjusts so that filling
When setting each section designated position, motor stalling, band-type brake, pose are fixed, and the puncture working of next step can be carried out in the case where doctor operates.
Turntable involved in the utility model and sleeve inner structure, as shown in Figure 2.For in oriented module, guiding
Module turntable sleeve 22 is mounted on platform 23, and stepper motor 54 is connected on planetary reduction gear 55, planetary reduction gear and guiding
Module turntable 21 is connected.Finally, turntable is mounted on oriented module turntable sleeve by screw 56, and oriented module large arm 19 passes through
Screw 57 is connected with turntable.The turntable sleeve part structure of piercing module is identical as oriented module.
Cradle head internal structure involved in the utility model, as shown in Figure 3.Two elbow joints, in two wrist joints
Portion's structure is similar, by taking oriented module elbow joint as an example.Oriented module elbow joint axis 17 is multi-diameter shaft, the maximum ladder of mid diameter
The symmetrically placed tapered roller bearing 58 in two sides and tapered roller bearing 59 and are led by screw 60 above tapered roller bearing 59
It is in contact to module elbow joint lower cover 18, completes bearing positioning.58 lower section of tapered roller bearing and oriented module large arm 19
Positioning convex platform contact, completes positioning.Oriented module elbow joint upper end cover 16 is connected with oriented module forearm 12 by screw 61, on
End cap is final to be connected with joint shaft again, and axis rotation is forearm rotation.
The utility model is not limited to embodiments described above.Above the description of specific embodiment is intended to describe
With illustrate the technical solution of the utility model, the above mentioned embodiment is only schematical, is not restrictive.?
In the case of not departing from the utility model aims and scope of the claimed protection, those skilled in the art are practical at this
The specific transformation of many forms can be also made under novel enlightenment, these are belonged within the protection scope of the utility model.
Claims (9)
1. a kind of console mode tumour radiotherapy seeds implanted treats automatic puncturing device, which is characterized in that including bottom plate, platform,
Oriented module and piercing module, the bottom base plate are connected with lifting unit support plate by electric pushrod, are pacified by universal wheel
Dress bar is connected with universal wheel, is equipped with electric cylinder at the top of bottom plate, the electric cylinder side is equipped with electric cylinder stepper motor, electronic
The inside of cylinder is equipped with screw structure that can be self-locking, and the stage+module is above electric cylinder, the oriented module and piercing module
It is respectively arranged in the two sides of the platform；
The oriented module includes oriented module sleeve, oriented module turntable, oriented module large arm and oriented module forearm, described
Oriented module turntable is equipped with crossed roller bearing and is set on oriented module sleeve, and the oriented module turntable passes through the first step
The planetary reduction gear for increasing driving torque, institute are equipped with into motor driven, between the first stepper motor and oriented module turntable
It states oriented module turntable to be connected with one end of the oriented module large arm, the other end of oriented module large arm is connected with oriented module
Forearm is connected between the oriented module large arm and oriented module forearm by the first cradle head, the pass of the first cradle head
Nodal axisn is stretched out and is connected by key below oriented module large arm to be connected with the first synchronous pulley group, and the first synchronous pulley group passes through
Synchronous belt is driven by the second stepper motor equipped with locking system；
The front end of the oriented module forearm is equipped with the second cradle head, and the joint shaft of the second cradle head is from oriented module forearm
Lower section stretch out and connect the second synchronous pulley group, the second synchronous pulley group is by synchronous belt by being equipped with the third step of locking system
Into motor driven；The joint shaft of second cradle head passes through the second synchronous pulley group and passes through shaft coupling and the 4th stepper motor phase
Even, the motor shaft of the 4th stepper motor is connected with guider mounting plate by shaft coupling, and the guider mounting plate passes through guiding
Template clamper is equipped with guider；
The piercing module includes piercing module sleeve, piercing module turntable, piercing module large arm and piercing module forearm, described
Piercing module turntable is installed on piercing module sleeve, and piercing module turntable is driven by the 5th stepper motor, the 5th stepping electricity
The planetary reduction gear for increasing driving torque is equipped between machine and piercing module turntable, piercing module turntable and piercing module are big
One end of arm is connected, and the other end of piercing module large arm is connected with piercing module forearm, and piercing module large arm and piercing module are small
It is connected between arm by third cradle head, the joint shaft of third cradle head stretches out below piercing module large arm and passes through key
Connection is connected with third synchronous pulley group, and third synchronous pulley group is by synchronous belt by the 6th stepper motor equipped with locking system
Driving；
The front end of the piercing module forearm is equipped with the 4th cradle head, and the joint shaft of the 4th cradle head is from piercing module forearm
Lower section stretch out and connect the 4th synchronous pulley group, the 4th synchronous pulley group is by synchronous belt by being equipped with the 7th step of locking system
Into motor driven；The joint shaft of 4th cradle head passes through the 4th synchronous pulley group and passes through shaft coupling and the 8th stepper motor phase
Even, the motor shaft of the 8th stepper motor is connected with puncturing guide rail connecting plate by shaft coupling, pacifies on the puncturing guide rail connecting plate
Equipped with lead screw puncturing guide rail that can be self-locking, the lead screw puncturing guide rail is equipped with sliding block, and the sliding block is useful by flanged joint
It is pressed from both sides in being connected with puncture needle on the 9th stepper motor for driving the lead screw puncturing guide rail, the motor shaft of the 9th stepper motor
Holder provides the rotary freedom movement of puncture；The tail portion of the lead screw puncturing guide rail is equipped with the tenth stepper motor, for driving
Lead screw puncturing guide rail realizes moving forward and backward for sliding block, and then realizes the feed motion punctured.
2. a kind of console mode tumour radiotherapy seeds implanted treats automatic puncturing device according to claim 1, feature exists
In first cradle head to the 4th cradle head is by upper end cover, multi-diameter shaft, lower cover and two tapered roller bearing structures
At.
3. a kind of console mode tumour radiotherapy seeds implanted treats automatic puncturing device according to claim 1, feature exists
In the first synchronous pulley group to the 4th synchronous pulley group is made of two synchronous pulleys, the first synchronous pulley group to
Circle-arc tooth transmission is all made of between four synchronous pulley groups and synchronous belt.
4. a kind of console mode tumour radiotherapy seeds implanted treats automatic puncturing device according to claim 1, feature exists
In the guider mounting plate is buckled equipped with easy-to-dismount knob, to replace different guiders, realizes different parts tumour
Puncture guiding.
5. a kind of console mode tumour radiotherapy seeds implanted treats automatic puncturing device according to claim 1, feature exists
In the sting device tool has ten ones degree of freedom.
6. a kind of console mode tumour radiotherapy seeds implanted treats automatic puncturing device according to claim 1, feature exists
In the piercing module sleeve is higher than the oriented module sleeve.
7. a kind of console mode tumour radiotherapy seeds implanted treats automatic puncturing device according to claim 1, feature exists
In being equipped with camera head installation rack between oriented module forearm and piercing module forearm, be equipped on the camera head installation rack
Two positioning shooting heads in 30 degree of depression angles.
8. a kind of console mode tumour radiotherapy seeds implanted treats automatic puncturing device according to claim 1, feature exists
In being equipped with the optoelectronic switch for limit on the oriented module turntable, piercing module turntable and electric cylinder.
9. a kind of console mode tumour radiotherapy seeds implanted treats automatic puncturing device according to claim 1, feature exists
In the bottom plate top is also equipped with power supply mounting plate, controller mounting plate and driver mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820387322.XU CN208640847U (en) | 2018-03-21 | 2018-03-21 | A kind of console mode tumour radiotherapy seeds implanted treatment automatic puncturing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820387322.XU CN208640847U (en) | 2018-03-21 | 2018-03-21 | A kind of console mode tumour radiotherapy seeds implanted treatment automatic puncturing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208640847U true CN208640847U (en) | 2019-03-26 |
Family
ID=65775127
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820387322.XU Withdrawn - After Issue CN208640847U (en) | 2018-03-21 | 2018-03-21 | A kind of console mode tumour radiotherapy seeds implanted treatment automatic puncturing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208640847U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108392253A (en) * | 2018-03-21 | 2018-08-14 | 天津大学 | A kind of console mode tumour radiotherapy seeds implanted treatment automatic puncturing device |
| CN110200700A (en) * | 2019-05-17 | 2019-09-06 | 中国科学院深圳先进技术研究院 | A kind of blood vessel intervention operation robot and equipment |
| CN110974366A (en) * | 2019-11-29 | 2020-04-10 | 浙江大学 | Minimally invasive customized puncture guiding device and puncture positioning optimization method |
| CN112168306A (en) * | 2020-11-02 | 2021-01-05 | 王天琦 | Pneumoperitoneum needle puncture device for laparoscopic surgery |
-
2018
- 2018-03-21 CN CN201820387322.XU patent/CN208640847U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108392253A (en) * | 2018-03-21 | 2018-08-14 | 天津大学 | A kind of console mode tumour radiotherapy seeds implanted treatment automatic puncturing device |
| CN110200700A (en) * | 2019-05-17 | 2019-09-06 | 中国科学院深圳先进技术研究院 | A kind of blood vessel intervention operation robot and equipment |
| CN110200700B (en) * | 2019-05-17 | 2021-06-04 | 中国科学院深圳先进技术研究院 | Robot and equipment for vascular intervention operation |
| CN110974366A (en) * | 2019-11-29 | 2020-04-10 | 浙江大学 | Minimally invasive customized puncture guiding device and puncture positioning optimization method |
| CN112168306A (en) * | 2020-11-02 | 2021-01-05 | 王天琦 | Pneumoperitoneum needle puncture device for laparoscopic surgery |
| CN112168306B (en) * | 2020-11-02 | 2021-05-14 | 宋伟 | Pneumoperitoneum needle puncture device for laparoscopic surgery |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208640847U (en) | A kind of console mode tumour radiotherapy seeds implanted treatment automatic puncturing device | |
| CN109771811B (en) | Parallel robot for implanting particles into prostate flexible needle | |
| CN104146772B (en) | A kind of robot for the accurate diagnosis and treatment of jaw face disease | |
| CN108392253B (en) | Automatic puncture device for floor type tumor radioactive particle implantation treatment | |
| CN105079986B (en) | A kind of non-co-planar radiotherapy system | |
| Fichtinger et al. | Robotically assisted prostate brachytherapy with transrectal ultrasound guidance—Phantom experiments | |
| CN102921099B (en) | Short-distance particle implantation robot based on ultrasonic image navigation | |
| CN102499761B (en) | Positioning robot for puncture in nuclear magnetic resonance | |
| CN104307113A (en) | Radiation therapy system | |
| CN105434048B (en) | Robot for orthopaedic surgery based on noninvasive type real-time surgery positioning and navigating equipment | |
| CN108553768B (en) | Prostate particle implantation robot | |
| CN104689489A (en) | Straight line swing arm type robot treatment bed | |
| WO2019206342A1 (en) | Radiotherapy device and treatment method which uses device | |
| CN110141317B (en) | Multi-needle automatic puncture device for tumor radioactive particle implantation treatment | |
| CN104307114A (en) | Five degree of freedom O-shaped arm radiation therapy system | |
| CN206700208U (en) | The fixed puncture of adjustable-angle and the holder device of radioactive prospecting instrument template | |
| CN108031016A (en) | A kind of radiation therapeutical bed | |
| CN212346669U (en) | CT-guided puncture combined orienting device | |
| CN206534993U (en) | A kind of tumor radiotherapy seeds implanted aids in automatic positioning mechanism | |
| CN108837332A (en) | Automate radiotherapy localization scriber | |
| CN204170301U (en) | Radiotherapy system | |
| CN207462453U (en) | A kind of surgical robot system of guided radiation seeds implanted | |
| CN204522032U (en) | Straight line swing arm robot therapeutic bed | |
| CN210541748U (en) | Multi-needle automatic puncture device for tumor radioactive particle implantation treatment | |
| CN211214946U (en) | Friction wheel type particle implantation device for robot far-end touch force feedback |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190326 Effective date of abandoning: 20200114 |
|
| AV01 | Patent right actively abandoned |