CN209848137U - Prostate close-range particle implantation robot device - Google Patents

Abstract

The utility model discloses a prostate close-range particle implantation robot device, which relates to the field of medical instruments and consists of a position adjusting mechanism, a cross joint posture adjusting mechanism, an ultrasonic image navigation module, a particle implantation module and an operation trolley; the position and the posture of the ultrasonic probe can be adjusted by controlling the motor, so that the feeding and the rotating motion around the axis of the ultrasonic probe are realized, and a series of sequence ultrasonic images are obtained; under the guidance of the ultrasonic image, completing the radioactive particle implantation treatment operation of the prostate cancer by controlling the particle implantation module; the utility model discloses can overcome the tired operation of doctor in traditional particle implantation operation process, manually operation's positioning accuracy and stability are low, and the efficiency of operation and the precision of particle implantation are improved to the defect of the dependence of doctor personal experience in the treatment process.

Description

Prostate close-range particle implantation robot device

The technical field is as follows:

the utility model belongs to the field of medical equipment, especially, relate to a prostate closely particle implants robot device.

Background art:

the related data indicate that the prostate cancer is one of the common malignant tumors of men at present. Worldwide, the incidence and mortality of prostate cancer has increased year by year, and patients tend to be younger, an important disease threatening human health. The radioactive particle implantation therapy has the advantages of small trauma, treatment blocks, less side effects, low incidence of postoperative complications and the like, and is a main method for treating prostate cancer at present. In radioactive particle implantation treatment, radioactive particles are implanted into a target region of a target organ through the skin by using a special particle implantation device under the guidance of an imaging device such as ultrasound.

Currently, the method for implanting the particles, which is generally adopted clinically, is to manually complete the process of implanting the particles by the clinician mostly through experience by means of a guide plate installed on the ultrasound under the guidance of manual ultrasound, and hundreds of radioactive particles are required to be implanted in each operation. The doctor labor intensity is high in the operation process, the efficiency is low, and the positioning precision of manual operation is difficult to guarantee. Meanwhile, due to the movement of the body of the patient, the posture movement of the prostate, the edema and deformation of tissues and the like, the focus point is difficult to be accurately determined in the operation. The treatment results depend mainly on the personal experience and level of the doctor, are easily harmful to the patient and cause reduction of the treatment efficiency.

CN104548328A discloses a robot device for minimally invasive local radiotherapy, which only involves the adjustment of the autorotation and feed motion of an ultrasonic probe, and during the procedure of performing prostate biopsy or prostate particle implantation, a doctor needs to complete the operation by holding a biopsy gun or a particle implantation device. The transmission distance between the horizontal rotation and pitching adjustment mechanism and the tail end executing mechanism is long, and the horizontal rotation mechanism adopts worm and gear transmission, so that the positioning precision is easily influenced.

CN103919577A discloses a cantilever type prostate biopsy robot, which adopts a compound parallelogram mechanism to ensure that the executing end is always in a horizontal state. However, the robot has only three degrees of freedom, so that only horizontal needle insertion can be adopted, and the needle insertion angle is limited.

The utility model has the following contents:

the utility model discloses the technical problem who solves: in order to overcome the defects of fatigue operation of doctors, low positioning precision and stability of manual operation and dependence on personal experience of doctors in the treatment process in the traditional particle implantation operation process, the near-distance particle implantation robot device for the prostate is provided.

The utility model discloses a robot device is implanted to closely granule of prostate, it has contained position adjustment mechanism, cross joint gesture adjustment mechanism, ultrasonic image navigation module, granule implantation module, operation platform truck, its characterized in that: the cross joint posture adjusting mechanism comprises a servo motor I, a motor base II, a speed reducer I, Z shaft rotating support, an X-axis rotating support, a speed reducer II and a servo motor II, the cross joint posture adjusting mechanism is arranged on a step base of the movable sliding table, the motor base II is arranged below the speed reducer I, the servo motor I is arranged below the motor base II through 4 screws, an output flange of the speed reducer I is fixedly connected with a flange fastening hole I of the Z-axis rotating support, the servo motor I drives an output flange of the speed reducer I to enable the cross joint posture adjusting mechanism to rotate around a Z axis, a speed reducer fixing seat at one end of the Z-axis rotating support is provided with 1 positioning pin hole and 4 threaded holes II, and the speed reducer II is fixedly arranged on the speed reducer fixing seat through 1 positioning pin and 4 screws, the servo motor II is fixedly connected to a motor base III of the Z-axis rotating support, connecting seats are arranged at two ends of the X-axis rotating support, 6 flange fastening holes II are formed in the connecting seats, the connecting seats are fixedly connected with an output flange of the speed reducer II through 6 screws penetrating through the flange fastening holes II, and the servo motor II drives the output flange of the speed reducer II to enable the cross joint posture adjusting mechanism to rotate around the X axis; the ultrasonic image navigation module comprises a Y-axis sliding table mechanism, an ultrasonic probe rotating mechanism, a puncture template and an ultrasonic probe, wherein the ultrasonic probe rotating mechanism comprises a rotating support, an outer fixing seat, a fixed support, a support shaft, a bracket base, a stepping motor and a coupling I, the puncture template comprises a guide plate, a template support shaft, a lifting lock button, a guide plate base and a template connecting shaft, a navigation hole and a conical arc groove are formed in the guide plate, a sliding table base II of the ultrasonic image navigation module is arranged right above the X-axis rotating support, the motor II drives the Y-axis sliding table mechanism to move in the Y-axis direction, a manual pulley arranged on the motor II can enable the ultrasonic image navigation module to move backwards through manually rotating the manual pulley under the emergency condition or the power failure condition, the outer fixing seat and the bracket base are arranged on a support plate II, the outer fixing seat is provided with a rotatable rotating support, the bracket and the rotating support are connected through 3 bracket shafts, the fixed support is arranged in the middle of the bracket shaft and used for fixing an ultrasonic probe arranged on the bracket and the rotating support, an output shaft of the stepping motor is fixedly connected with the bracket through a coupling I device, the rotating motion of the ultrasonic probe in the direction around the Y axis can be realized, a sequence ultrasonic image of a prostate focus area is obtained, the guide plate base is fixedly connected with one end of the sliding table base II through a template connecting shaft, two ends of the guide plate base are provided with template supporting shafts which can be adjusted up and down, the lifting lock button is used for locking the template supporting shafts, and a guide plate is arranged above the template supporting shafts; the particle implantation module comprises a particle implantation gun, an X-axis fixed point mechanism and a Z-axis fixed point mechanism, the particle implantation gun comprises an outer needle control motor, an inner needle control motor, a coupler II, a coupler III, an I-shaped base, a lead screw II, a lead screw III, a nut sliding sleeve I, an inner needle mounting seat, a lead screw nut II, a lead screw nut III, a nut sliding sleeve II, an outer needle mounting seat, a particle bullet clamping bin, a particle gun seat, an inner needle, an outer needle and a needle fixing frame, the X-axis fixed point mechanism comprises a motor III, a motor mounting plate, a coupler IV, a lead screw nut IV, a linear bearing, a lead screw IV, a light bar I, a particle gun connecting plate and a connecting truss, the Z-axis fixed point mechanism comprises a motor IV, a connecting fixing frame, a motor connecting seat, a lead screw V, a light bar II, a nut sliding table and a connecting vertical frame, the connecting fixing frame of the Z-axis fixed point mechanism is provided, the connecting and fixing frame is fixedly connected to a sliding table base II of the Y-axis sliding table mechanism through screws, a motor connecting seat is arranged below an upper plate of the connecting and fixing frame, the motor IV is arranged below the motor connecting seat, a connecting vertical frame is arranged above the connecting and fixing frame, the lead screw V and the feed screw II are arranged on the connecting vertical frame, and the lead screw V is connected with an output shaft of the motor IV; be provided with the nut slip table on lead screw V and the feed screw II, nut slip table and lead screw V threaded connection, the connection truss rigid coupling of X axle fixed point mechanism in one side of nut slip table, the motor mounting panel sets up the opposite side at the nut slip table, motor III install on the motor mounting panel, be provided with lead screw IV and feed screw I on the connection truss, lead screw IV passes through shaft coupling IV with motor III's output shaft and is connected, is provided with lead screw nut IV on the lead screw IV, is provided with linear bearing on the feed screw I, particle rifle connecting plate rigid coupling on lead screw nut IV and linear bearing, the below of particle rifle connecting plate is provided with the particle and implants the rifle, motor IV drive lead screw V is rotatory, can make the particle implant rifle and move on Z axle orientation, motor III drive lead screw IV is rotatory, can make the particle implant rifle and move on X axle orientation.

Preferably, the guide plate is provided with an array navigation hole with a center distance of 80mm multiplied by 80mm of 4mm, the front end of the navigation hole is provided with a conical arc groove, and the edges of the conical arc grooves are tangent; if an error exists, when the outer needle approaches the guide plate, the needle point of the outer needle is positioned on the conical arc groove, and the outer needle can slide into the navigation hole along the conical arc groove.

Preferably, the particle gun base of the particle implantation gun is arranged below the particle gun connecting plate, the I-shaped base is arranged at the rear end of the particle gun base, and an outer needle control motor and an inner needle control motor are mounted on the I-shaped base; the output shaft of the outer needle control motor is connected with a screw II arranged on the particle gun base through a coupler II, and the output shaft of the inner needle control motor is connected with a screw III arranged on the particle gun base through a coupler III; the screw II is provided with a nut sliding sleeve I and a screw nut III, the screw II is connected with the screw nut III through threads, the screw III is provided with a screw nut II and a nut sliding sleeve II, and the screw III is connected with the screw nut II through threads; the inner needle mounting seat is arranged on the nut sliding sleeve I and the screw nut II, and an inner needle is arranged on the inner needle mounting seat; the outer needle mounting seat is mounted on the screw nut III and the nut sliding sleeve II, a particle cartridge clamping bin is arranged on the outer needle mounting seat, the bottom end of the outer needle penetrates through the inside of the particle cartridge clamping bin, the outer needle is arranged on the needle fixing frame to move, the needle fixing frame can play a supporting role in the moving process of the outer needle, and the outer needle is prevented from being bent.

Preferably, the position adjusting mechanism comprises an X-axis sliding table mechanism and a Z-axis lifting adjusting mechanism; the X-axis sliding table mechanism comprises a track sliding table, a lead screw I, a lead screw nut I, a lead screw sliding block, a track sliding block, a sliding table base I, an anti-collision pad, a motor base I, a motor I and a supporting plate I; the left side and the right side of the sliding table base I are respectively provided with a track sliding table, each track sliding table is provided with 2 track sliding blocks, and the track sliding blocks can freely slide on the track sliding tables; the X-axis sliding table mechanism is characterized in that the motor base I is arranged at one end of the sliding table base I, the motor I is fixedly connected onto the motor base I through 4 screws, the lead screw I is connected with an output shaft of the motor I, the lead screw nut I is in threaded connection with the lead screw I, a lead screw slider is arranged on the lead screw nut I, one side of the lead screw nut I and the other side of the lead screw slider are respectively provided with an anti-collision pad, the lead screw slider and 4 track sliders are positioned on the same horizontal plane, the support plate I is arranged on the lead screw slider and 4 track sliders, the lead screw I is driven to rotate through the motor I, so that the lead screw slider on the lead screw nut drives the support plate I to move, the X-axis sliding table mechanism moves in the X direction, the Z-axis lifting adjusting mechanism is fixedly connected onto the support plate I, the Z-axis lifting adjusting mechanism comprises a fixed base and a, the bidirectional sliding of the Z-axis lifting adjusting mechanism in the Z-axis direction is realized; the operation trolley comprises universal wheels, a drawer and an arc-shaped handle, a stepped hole is formed in a sliding table base I of the X-axis sliding table mechanism, and the X-axis sliding table mechanism is fixed on the operation trolley through bolts and nuts.

The utility model has the advantages that:

(1) the cross joint posture adjusting mechanism is arranged on a movable sliding table of the Z-axis lifting adjusting mechanism, so that the structure is compact, and the cross joint posture adjusting mechanism adopts a driving mode of a servo motor and a speed reducer, so that the positioning precision is improved, and the output torque is increased;

(2) the particle implantation module is arranged on a sliding table base II of the Y-axis sliding table mechanism, and an inner needle and an outer needle of the particle gun are always kept in a sagittal plane of the ultrasonic probe in the process of adjusting the position and the posture of the ultrasonic probe, so that a doctor can clearly see the needle inserting tracks of the inner needle and the outer needle in an ultrasonic image, and the puncture precision of particle implantation is improved;

(3) the guide plate is provided with 80mm × 80mm array navigation holes with the center distance of 4mm, the front end of each navigation hole is provided with a conical arc groove, the edges of the conical arc grooves are tangent, if errors exist, when the outer needle approaches the guide plate in the process of implanting the particles, the needle point of the outer needle is positioned on the conical arc groove, and the outer needle can slide into the navigation holes along the conical arc groove, so that the influence caused by the errors can be eliminated;

(4) a manual pulley is arranged on a driving motor of the Y-axis sliding table mechanism, so that the prostate close-distance particle implantation robot device can be rapidly stopped in an emergency. The manual return to the safety area can be realized through the manual pulley, so that the safety is improved;

(5) the arc-shaped handle of the operation trolley is designed into an integrated structure, so that the operation trolley is simple and easy to hold, labor is saved in pushing, a doctor can move the operation trolley to an appointed sickbed when performing an operation, the universal wheels at the bottom of the operation trolley are pressed down by the brake switch, the movement in the operation process is prevented, and the flexibility of the prostate close-range particle implantation robot device is improved by the movable operation trolley.

Description of the drawings:

for ease of illustration, the invention is described in detail by the following detailed description and accompanying drawings.

FIG. 1 is a general schematic view of the structure of the present invention;

FIG. 2 is a schematic structural view of the position and posture adjustment mechanism of the cross joint of the present invention;

FIG. 3 is a schematic structural view of the X-axis sliding table mechanism of the present invention;

FIG. 4 is a schematic structural view of the sliding table of the present invention;

FIG. 5 is a schematic structural view of the posture adjustment mechanism for the cross joint of the present invention;

fig. 6 is a schematic structural view of the Z-axis rotating bracket of the present invention;

fig. 7 is a schematic structural view of the X-axis rotating bracket of the present invention;

fig. 8 is a schematic structural view of the posture adjustment mechanism of the ultrasonic probe of the present invention;

FIG. 9 is a schematic structural view of the guide plate of the present invention;

fig. 10 is a schematic structural view of a position adjustment mechanism of the particle implantation module according to the present invention;

FIG. 11 is a schematic view of the particle implantation gun according to the present invention;

fig. 12 is a schematic structural view of the surgical cart of the present invention.

In the figure: 1 position adjusting mechanism, 1-1X-axis sliding table mechanism, 1-1-1 track sliding table, 1-1-2 screw I, 1-1-3 screw nut I, 1-1-4 screw sliding block, 1-1-5 track sliding block, 1-1-6 sliding table base I, 1-1-7 anti-collision pad, 1-1-8 motor base, 1-1-9 motor I, 1-1-10 support plate I, 1-2Z-axis lifting adjusting mechanism, 1-2-1 fixed base, 1-2-1-1 slideway boss, 1-2-2 movable sliding table, 1-2-2-1 slideway groove, 1-2-2-2 stepped base, 1-2-2-3 threaded hole I, 2-1 cross joint posture adjusting mechanism, 2-1 servo motor I, 2-2 motor base II, 2-3 reducer I, 2-4Z-axis rotating bracket, 2-4-1 flange fastening hole I, 2-4-2 reducer fixing base, 2-4-3 threaded hole II, 2-4-4 positioning pin hole, 2-4-5 motor base III, 2-5X-axis rotating bracket, 2-5-1 flange fastening hole II, 2-5-2 connecting seat, 2-6 reducer II, 2-7 servo motor II, 3 ultrasonic image navigation module, 3-1Y-axis sliding table mechanism, 3-1-1 sliding table base II, 3-1-2 supporting plate II, 3-1-3 manual pulley, 3-1-4 motor II, 3-2 ultrasonic probe rotating mechanism, 3-2-1 rotating bracket, 3-2-2 external fixing seat, 3-2-3 fixing bracket, 3-2-4 bracket shaft, 3-2-5 bracket, 3-2-6 bracket base, 3-2-7 stepping motor, 3-2-8 coupling I, 3-3 puncture template, 3-3-1 guide plate, 3-3-1-1 navigation hole, 3-3-1-2 conical arc groove, 3-3-2 template supporting shaft, 3-3-3 lifting lock button, 3-3-4 guide plate base, 3-3-5 template connecting shaft, 3-4 ultrasonic probe, ultrasonic probe, ultrasonic probe ultrasonic, 4 particle implantation module, 4-1 particle implantation gun, 4-1-1 outer needle control motor, 4-1-2 inner needle control motor, 4-1-3 coupler II, 4-1-4 coupler III, 4-1-5I-shaped base, 4-1-6 screw II, 4-1-7 screw III, 4-1-8 nut sliding sleeve I, 4-1-9 inner needle mounting seat, 4-1-10 screw nut II, 4-1-11 screw nut III, 4-1-12 nut sliding sleeve II, 4-1-13 outer needle mounting seat, 4-1-14 bullet clamping bin, 4-1-15 particle gun seat, 4-1-16 inner needle, 4-1-17 outer needle, 4-1-18 needle fixing frame, 4-2X axis fixed point mechanism, 4-2-1 motor III, 4-2-2 motor mounting plate, 4-2-3 coupling IV, 4-2-4 screw nut IV, 4-2-5 linear bearing, 4-2-6 screw IV, 4-2-7 polished bar I, 4-2-8 particle gun connecting plate, 4-2-9 connecting truss, 4-3Z axis fixed point mechanism, 4-3-1 motor IV, 4-3-2 connecting fixing frame, 4-3-3 motor connecting seat, 4-3-4 screw V, 4-3-5 polished bar II, 4-3-6 nut sliding table, 4-3-7 is connected with a vertical frame, 5 operation trolleys, 5-1 universal wheels, 5-2 drawers and 5-3 arc handles.

The specific implementation mode is as follows:

in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described below with reference to specific embodiments shown in the accompanying drawings. It should be understood that the description is intended to be illustrative only and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

As shown in fig. 1 to 12, the following technical solutions are adopted in the present embodiment: it has contained position adjustment mechanism 1, cross joint gesture adjustment mechanism 2, ultrasonic image navigation module 3, particle implantation module 4, operation platform truck 5, its characterized in that: the cross joint posture adjusting mechanism 2 comprises a servo motor I2-1, a motor base II2-2, a speed reducer I2-3, a Z-axis rotating support 2-4, an X-axis rotating support 2-5, a speed reducer II 2-6 and a servo motor II 2-7, the cross joint posture adjusting mechanism 2 is arranged on the step base 1-2-2-2 of the moving sliding table 1-2-2, the motor base II2-2 is arranged below the speed reducer I2-3, the servo motor I2-1 is arranged below the motor base II2-2 through 4 screws, an output flange of the speed reducer I2-3 is fixedly connected with a flange fastening hole I2-4-1 of the Z-axis rotating support 2-4, the servo motor I2-1 drives an output flange of the speed reducer I2-3 to enable the cross joint posture adjusting mechanism 2 to realize rotary motion around a Z axis, a speed reducer fixing seat 2-4-2 at one end of a Z axis rotating support 2-4 is provided with 1 positioning pin hole 2-4 and 4 threaded holes II 2-4-3, the speed reducer II 2-6 is fixedly arranged on the speed reducer fixing seat 2-4-2 through 1 positioning pin and 4 screws, the servo motor II 2-7 is fixedly connected on a motor base III 2-4-5 of the Z axis rotating support 2-4, two ends of an X axis rotating support 2-5 are provided with connecting seats 2-5-2, the connecting seats 2-5-2 are provided with 6 flange fastening holes II 2-5-1, the connecting seat 2-5-2 is fixedly connected with an output flange of the speed reducer II 2-6 by penetrating 6 screws through the flange fastening hole II 2-5-1, and the servo motor II 2-7 drives the output flange of the speed reducer II 2-6 to enable the cross joint posture adjusting mechanism 2 to rotate around an X axis; the ultrasonic image navigation module 3 comprises a Y-axis sliding table mechanism 3-1, an ultrasonic probe rotating mechanism 3-2, a puncture template 3-3 and an ultrasonic probe 3-4, wherein the ultrasonic probe rotating mechanism 3-2 comprises a rotating support 3-2-1, an outer fixing seat 3-2-2, a fixing support 3-2-3, a support shaft 3-2-4, a bracket 3-2-5, a bracket base 3-2-6, a stepping motor 3-2-7 and a coupler I3-2-8, the puncture template 3-3 comprises a guide plate 3-3-1, a template supporting shaft 3-3-2, a lifting lock button 3-3, a guide plate base 3-3-4, a needle-shaped guide plate 3-3, A template connecting shaft 3-3-5, a guide plate 3-3-1 is provided with a navigation hole 3-3-1-1 and a conical arc groove 3-3-1-2, a sliding table base II 3-1-1 of an ultrasonic image navigation module 3 is arranged right above an X-axis rotating support 2-5, a motor II 3-1-4 drives a Y-axis sliding table mechanism 3-1 to move in the Y-axis direction, a manual pulley 3-1-3 arranged on the motor II 3-1-4 can enable the ultrasonic image navigation module 3 to move backwards by manually rotating the manual pulley 3-1-3 under emergency or power-off conditions, an external fixed seat 3-2-2 and a bracket base 3-2-6 are arranged on a support plate II 3-1-2, the outer fixed seat 3-2-2 is provided with a rotatable rotating bracket 3-2-1, the bracket 3-2-5 is connected with the rotating bracket 3-2-1 through 3 bracket shafts 3-2-4, the fixed bracket 3-2-3 is arranged in the middle of the bracket shaft 3-2-4, the fixed bracket 3-2-3 is used for fixing an ultrasonic probe 3-4 arranged on the bracket 3-2-5 and the rotating bracket 3-2-1, an output shaft of the stepping motor 3-2-7 is fixedly connected with the bracket 3-2-5 through a coupler I3-2-8, the rotary motion of the ultrasonic probe 3-4 in the direction around the Y axis can be realized, and a sequence ultrasonic image of a prostate focus area can be obtained, the guide plate base 3-3-4 is fixedly connected with one end of the sliding table base II 3-1-1 through a template connecting shaft 3-3-5, two ends of the guide plate base 3-3-4 are provided with template supporting shafts 3-3-2 which can be adjusted up and down, the lifting lock knob 3-3-3 is used for locking the template supporting shafts 3-3-2, and a guide plate 3-3-1 is arranged above the template supporting shafts 3-3-2; the particle implantation module 4 comprises a particle implantation gun 4-1, an X-axis fixed point mechanism 4-2 and a Z-axis fixed point mechanism 4-3, wherein the particle implantation gun 4-1 comprises an outer needle control motor 4-1-1, an inner needle control motor 4-1-2, a coupler II 4-1-3, a coupler III 4-1-4, an I-shaped base 4-1-5, a screw II 4-1-6, a screw III 4-1-7, a nut sliding sleeve I4-1-8, an inner needle mounting seat 4-1-9, a screw nut II 4-1-10, a screw nut III 4-1-11, a nut sliding sleeve II 4-1-12, an outer needle mounting seat 4-1-13, a needle positioning mechanism 4-3, 4-1-14 parts of particle cartridge clamping bin, 4-1-15 parts of particle gun seat, 4-1-16 parts of inner needle, 4-1-17 parts of outer needle and 4-1-18 parts of needle fixing frame, wherein the X-axis fixed point mechanism 4-2 comprises a motor III 4-2-1 part, a motor mounting plate 4-2-2 part, a coupler IV 4-2-3 part, a screw nut IV 4-2-4 part, a linear bearing 4-2-5 part, a screw IV 4-2-6 part, a light bar I4-2-7 part, a particle gun connecting plate 4-2-8 part and a connecting truss 4-2-9 part, the Z-axis fixed point mechanism 4-3 comprises a motor IV 4-3-1 part, a connecting fixing frame 4-3-2 part, The motor fixing seat 4-3-3, the screw rod V4-3-4, the feed screw II4-3-5, the nut sliding table 4-3-6 and the connecting vertical frame 4-3-7, the connecting fixing frame 4-3-2 of the Z-axis fixed point mechanism 4-3 is provided with 2M 6 threaded holes 4-3-2-1, the connecting fixing frame 4-3-2 is fixedly connected on the sliding table base II 3-1-1 of the Y-axis sliding table mechanism 3-1 through screws, the motor connecting seat 4-3-3 is arranged below the upper plate of the connecting fixing frame 4-3-2, the motor IV 4-3-1 is arranged below the motor connecting seat 4-3-3, the connecting vertical frame 4-3-7 is arranged above the connecting fixing frame 4-3-2, the screw V4-3-4 and the feed rod II4-3-5 are arranged on the connecting vertical frame, and the screw V4-3-4 is connected with an output shaft of the motor IV 4-3-1; the screw rod V4-3-4 and the feed bar II4-3-5 are provided with a nut sliding table 4-3-6, the nut sliding table 4-3-6 is in threaded connection with the screw rod V4-3-4, a connecting truss 4-2-9 of the X-axis fixed point mechanism 4-2 is fixedly connected with one side of the nut sliding table 4-3-6, a motor mounting plate 4-2-2 is arranged at the other side of the nut sliding table 4-3-6, the motor III 4-2-1 is arranged on the motor mounting plate 4-2-2, the connecting truss 4-2-9 is provided with a screw rod IV 4-2-6 and a feed bar I4-2-7, the screw rod IV 4-2-6 is connected with an output shaft of the motor III 4-2-1 through a coupler IV 4-2-3, a screw nut IV 4-2-4 is arranged on the screw IV 4-2-6, a linear bearing 4-2-5 is arranged on the feed rod I4-2-7, the particle gun connecting plate 4-2-8 is fixedly connected on a screw nut IV 4-2-4 and a linear bearing 4-2-5, a particle implantation gun 4-1 is arranged below the particle gun connecting plate 4-2-8, a motor IV 4-3-1 drives a screw rod V4-3-4 to rotate, the particle implantation gun 4-1 can be moved in the Z-axis direction, and the motor III 4-2-1 drives the screw IV 4-2-6 to rotate, so that the particle implantation gun 4-1 can be moved in the X-axis direction.

Further, an array navigation hole 3-3-1-1 with a center distance of 80mm × 80mm of 4mm is arranged on the guide plate 3-3-1 shown in fig. 9, a conical arc groove 3-3-1-2 is arranged at the front end of the navigation hole 3-3-1-1, and the edges of the conical arc grooves 3-3-1-2 are tangent; if an error exists, when the outer needle 4-1-17 approaches the guide plate 3-3-1, the needle point of the outer needle 4-1-17 is on the conical arc groove 3-3-1-2, and the outer needle 4-1-17 can slide into the navigation hole 3-3-1-1 along the conical arc groove 3-3-1-2.

Further, as shown in fig. 11, the particle gun mount 4-1-15 of the particle implanting gun 4-1 is disposed under the particle gun connection plate 4-2-8, the drum base 4-1-5 is disposed at the rear end of the particle gun mount 4-1-15, and the drum base 4-1-5 is mounted with the outer needle control motor 4-1-1 and the inner needle control motor 4-1-2; the output shaft of the outer needle control motor 4-1-1 is connected with a screw II 4-1-6 arranged on the particle gun base 4-1-15 through a coupler II 4-1-3, and the output shaft of the inner needle control motor 4-1-2 is connected with a screw III 4-1-7 arranged on the particle gun base 4-1-15 through a coupler III 4-1-4; a screw II 4-1-6 is provided with a nut sliding sleeve I4-1-8 and a screw nut III 4-1-11, the screw II 4-1-6 is connected with the screw nut III 4-1-11 through threads, the screw III 4-1-7 is provided with a screw nut II 4-1-10 and a nut sliding sleeve II 4-1-12, and the screw III 4-1-7 is connected with the screw nut II 4-1-10 through threads; the inner needle mounting seat 4-1-9 is arranged on the nut sliding sleeve I4-1-8 and the screw nut II 4-1-10, and the inner needle 4-1-16 is arranged on the inner needle mounting seat 4-1-9; the outer needle mounting seat 4-1-13 is mounted on a screw nut III 4-1-11 and a nut sliding sleeve II 4-1-12, a particle cartridge clamping bin 4-1-14 is arranged on the outer needle mounting seat 4-1-13, the bottom end of the outer needle 4-1-17 penetrates through the particle cartridge clamping bin 4-1-14, the outer needle 4-1-17 moves on the needle fixing frame 4-1-18, and the needle fixing frame 4-1-18 can play a supporting role in the moving process of the outer needle 4-1-17 so as to prevent the outer needle 4-1-17 from being bent.

Further, as shown in fig. 2, fig. 3, fig. 4, and fig. 12, the position adjusting mechanism 1 includes an X-axis sliding table mechanism 1-1 and a Z-axis lifting adjusting mechanism 1-2; the X-axis sliding table mechanism 1-1 comprises a track sliding table 1-1-1, a lead screw I1-1-2, a lead screw nut I1-1-3, a lead screw sliding block 1-1-4, a track sliding block 1-1-5, a sliding table base I1-1-6, an anti-collision pad 1-1-7, a motor base I1-1-8, a motor I1-1-9 and a supporting plate I1-1-10; the left side and the right side of the sliding table base I1-1-6 are respectively provided with a track sliding table 1-1-1, each track sliding table 1-1-1 is provided with 2 track sliding blocks 1-1-5, and the track sliding blocks 1-1-5 can freely slide on the track sliding tables 1-1-1; the motor base I1-1-8 is arranged at one end of the sliding table base I1-1-6, the motor I1-1-9 is fixedly connected to the motor base I1-1-8 through 4 screws, the lead screw I1-1-2 is connected with an output shaft of the motor I1-1-9, the lead screw nut I1-1-3 is in threaded connection with the lead screw I1-1-2, the lead screw nut I1-1-3 is provided with the lead screw slider 1-1-4, one side of the lead screw nut I1-1-3 and the other side of the lead screw slider 1-1-4 are respectively provided with anti-collision pads 1-1-7, and the lead screw slider 1-1-4 and 4 track sliders 1-1-5 are on the same horizontal plane, the supporting plate I1-1-10 is arranged on a leading screw sliding block 1-1-4 and 4 track sliding blocks 1-1-5, a leading screw I1-1-2 is driven to rotate through a motor I1-1-9, so that the leading screw sliding block 1-1-4 on a leading screw nut I1-1-3 drives the supporting plate I1-1-10 to move, and the movement of an X-axis sliding table mechanism 1-1 in the X direction is realized, the Z-axis lifting adjusting mechanism 1-2 is fixedly connected to the supporting plate I1-1-10, the Z-axis lifting adjusting mechanism 1-2 comprises a fixed base 1-2-1 and a movable sliding table 1-2-2, and the fixed base 1-2-1 and the movable sliding table 1-2-1 are connected with a sliding groove 1-2-2 on the movable sliding table 1-2-2 through a sliding boss 1-2-1 on the fixed base 1-2 1, realizing the bidirectional sliding of a Z-axis lifting adjusting mechanism 1-2 in the Z-axis direction; the operation trolley 5 comprises universal wheels 5-1, drawers 5-2 and arc-shaped handles 5-3, a sliding table base I1-1-6 of the X-axis sliding table mechanism 1-1 is provided with a step hole 1-1-6-1, and the X-axis sliding table mechanism 1-1 is fixed on the operation trolley 5 through bolts and nuts.

The utility model discloses the theory of operation of implementing specifically: the patient lies on the sick bed with the lithotomy position, disinfects before the operation and anaesthetizes the local perineum, the doctor pushes the operation trolley 5 to the sick bed by hand, and the operation trolley 5 is fixed by locking the universal wheels 5-1. The position of the prostate close-range particle implantation robot device in the X and Z directions is adjusted by controlling the position adjusting mechanism 1, so that the ultrasonic probe 3-4 reaches the anus of the patient, and the puncture template 3-3 is positioned 2cm right in front of the perineum of the patient. The doctor puts the radioactive seeds 125I into the pellet magazine 4-1-14 under the sealed environment before operation, and then installs the pellet magazine 4-1-14 on the seed implantation gun 4-1, thereby completing the position adjustment and preoperative preparation of the prostate near-distance seed implantation robot device. The feeding and the rotation around the self axis of the ultrasonic probe 3-4 are controlled by controlling the ultrasonic image navigation module 3, which comprises a Y-axis sliding table mechanism 3-1 and an ultrasonic probe rotating mechanism 3-2. The minimum feed of the ultrasound probe 3-4 is 2mm and a series of successive tomographic images of the prostate are acquired. The position of a focus point of the prostate cancer is determined, and the position and the posture of a particle implantation gun 4-1 are adjusted by controlling a particle implantation module 4 and a cross joint posture adjusting mechanism 2, so that the particle implantation treatment is carried out on the patient. In an emergency, the prostate close-range particle implantation robot device can be stopped quickly, and manual retraction into a safe area can be achieved through the manual pulley 3-1-3.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (4)

1. The utility model provides a robot device is implanted to near-range particle of prostate, it has contained position adjustment mechanism (1), cross joint gesture adjustment mechanism (2), ultrasonic image navigation module (3), particle implantation module (4), operation platform truck (5), its characterized in that: the cross joint posture adjusting mechanism (2) comprises a servo motor I (2-1), a motor base II (2-2), a speed reducer I (2-3), a Z-axis rotating support (2-4), an X-axis rotating support (2-5), a speed reducer II (2-6) and a servo motor II (2-7), the cross joint posture adjusting mechanism (2) is arranged on a step base (1-2-2-2) of the moving sliding table (1-2-2), the motor base II (2-2) is arranged below the speed reducer I (2-3), the servo motor I (2-1) is arranged below the motor base II (2-2) through 4 screws, and an output flange of the speed reducer I (2-3) is fixed with a fastening hole I (2-4-1) of the Z-axis rotating support (2-4) A servo motor I (2-1) drives an output flange of a speed reducer I (2-3) to enable a cross joint posture adjusting mechanism (2) to rotate around a Z shaft, a speed reducer fixing seat (2-4-2) at one end of a Z shaft rotating support (2-4) is provided with 1 positioning pin hole (2-4-4) and 4 threaded holes II (2-4-3), the speed reducer II (2-6) is fixedly arranged on the speed reducer fixing seat (2-4-2) through 1 positioning pin and 4 screws, the servo motor II (2-7) is fixedly connected on a motor base III (2-4-5) of the Z shaft rotating support (2-4), two ends of an X shaft rotating support (2-5) are provided with connecting seats (2-5-2), 6 flange fastening holes II (2-5-1) are formed in the connecting seat (2-5-2), the connecting seat (2-5-2) is fixedly connected with an output flange of the speed reducer II (2-6) by penetrating 6 screws through the flange fastening holes II (2-5-1), and the servo motor II (2-7) drives the output flange of the speed reducer II (2-6) to enable the cross joint posture adjusting mechanism (2) to rotate around an X axis; the ultrasonic image navigation module (3) comprises a Y-axis sliding table mechanism (3-1), an ultrasonic probe rotating mechanism (3-2), a puncture template (3-3) and an ultrasonic probe (3-4), wherein the ultrasonic probe rotating mechanism (3-2) comprises a rotating support (3-2-1), an outer fixing seat (3-2-2), a fixing support (3-2-3), a support shaft (3-2-4), a bracket (3-2-5), a bracket base (3-2-6), a stepping motor (3-2-7) and a coupler I (3-2-8), and the puncture template (3-3) comprises a guide plate (3-3-1), a template supporting shaft (3-3-2), A lifting lock button (3-3-3), a guide plate base (3-3-4) and a template connecting shaft (3-3-5), wherein a guide plate (3-3-1) is provided with a navigation hole (3-3-1-1) and a conical arc groove (3-3-1-2), a sliding table base II (3-1-1) of the ultrasonic image navigation module (3) is arranged right above an X-axis rotating support (2-5), a motor II (3-1-4) drives a Y-axis sliding table mechanism (3-1) to move in the Y-axis direction, a manual pulley (3-1-3) arranged on the motor II (3-1-4) can enable the ultrasonic image navigation module (3) to move backwards through manually rotating the manual pulley (3-1-3) in emergency or power-off conditions, an outer fixed seat (3-2-2) and a bracket base (3-2-6) are arranged on the supporting plate II (3-1-2), a rotatable rotating support (3-2-1) is arranged on the outer fixed seat (3-2-2), the bracket (3-2-5) is connected with the rotating support (3-2-1) through 3 bracket shafts (3-2-4), the fixed support (3-2-3) is arranged in the middle of the bracket shafts (3-2-4), the fixed support (3-2-3) is used for fixing ultrasonic probes (3-4) arranged on the bracket (3-2-5) and the rotating support (3-2-1), and an output shaft of the stepping motor (3-2-7) is connected with the bracket base (3-2-6) through a coupler I (3-2-8) The frame (3-2-5) is fixedly connected, so that the rotary motion of the ultrasonic probe (3-4) in the direction around the Y axis can be realized, and a sequence ultrasonic image of a prostate focus area can be obtained, the guide plate base (3-3-4) is fixedly connected with one end of the sliding table base II (3-1-1) through a template connecting shaft (3-3-5), the two ends of the guide plate base (3-3-4) are provided with template supporting shafts (3-3-2) which can be adjusted up and down, the lifting lock buttons (3-3-3) are used for locking the template supporting shafts (3-3-2), and a guide plate (3-3-1) is arranged above the template supporting shafts (3-3-2); the particle implantation module (4) comprises a particle implantation gun (4-1), an X-axis fixed point mechanism (4-2) and a Z-axis fixed point mechanism (4-3), wherein the particle implantation gun (4-1) comprises an outer needle control motor (4-1-1), an inner needle control motor (4-1-2), a coupler II (4-1-3), a coupler III (4-1-4), an I-shaped base (4-1-5), a screw II (4-1-6), a screw III (4-1-7), a nut sliding sleeve I (4-1-8), an inner needle mounting seat (4-1-9), a screw nut II (4-1-10), a screw nut III (4-1-11), a nut sliding sleeve II (4-1-12), An outer needle mounting seat (4-1-13), a particle cartridge clamping bin (4-1-14), a particle gun seat (4-1-15), an inner needle (4-1-16), an outer needle (4-1-17) and a needle fixing frame (4-1-18), wherein the X-axis fixed point mechanism (4-2) comprises a motor III (4-2-1), a motor mounting plate (4-2-2), a coupler IV (4-2-3), a lead screw nut IV (4-2-4), a linear bearing (4-2-5), a lead screw IV (4-2-6), a polished rod I (4-2-7), a particle gun connecting plate (4-2-8) and a connecting truss (4-2-9), the Z-axis fixed point mechanism (4-3) comprises a motor IV (4-3-1), a connecting fixing frame (4-3-2), a motor connecting seat (4-3-3), a lead screw V (4-3-4), a feed rod II (4-3-5), a nut sliding table (4-3-6) and a connecting vertical frame (4-3-7), wherein the connecting fixing frame (4-3-2) of the Z-axis fixed point mechanism (4-3) is provided with 2M 6 threaded holes (4-3-2-1), the connecting fixing frame (4-3-2) is fixedly connected on the sliding table base II (3-1-1) of the Y-axis sliding table mechanism (3-1) through screws, the motor connecting seat (4-3-3) is arranged below an upper plate of the connecting fixing frame (4-3-2), the motor IV (4-3-1) is arranged below the motor connecting seat (4-3-3), a connecting vertical frame (4-3-7) is arranged above the connecting fixed frame (4-3-2), the screw rod V (4-3-4) and the feed rod II (4-3-5) are arranged on the connecting vertical frame, and the screw rod V (4-3-4) is connected with an output shaft of the motor IV (4-3-1); the screw rod V (4-3-4) and the feed bar II (4-3-5) are provided with nut sliding tables (4-3-6), the nut sliding tables (4-3-6) are in threaded connection with the screw rod V (4-3-4), a connecting truss (4-2-9) of the X-axis fixed point mechanism (4-2) is fixedly connected with one side of the nut sliding tables (4-3-6), a motor mounting plate (4-2-2) is arranged at the other side of the nut sliding tables (4-3-6), the motor III (4-2-1) is arranged on the motor mounting plate (4-2-2), the connecting truss (4-2-9) is provided with a screw rod IV (4-2-6) and a feed bar I (4-2-7), the screw IV (4-2-6) is connected with an output shaft of the motor III (4-2-1) through a coupling IV (4-2-3), a screw nut IV (4-2-4) is arranged on the screw IV (4-2-6), a linear bearing (4-2-5) is arranged on the light bar I (4-2-7), the particle gun connecting plate (4-2-8) is fixedly connected on the screw nut IV (4-2-4) and the linear bearing (4-2-5), the particle implantation gun (4-1) is arranged below the particle gun connecting plate (4-2-8), the motor IV (4-3-1) drives the screw V (4-3-4) to rotate, so that the particle implantation gun (4-1) can move in the Z-axis direction, the motor III (4-2-1) drives the lead screw IV (4-2-6) to rotate, so that the particle implantation gun (4-1) can move in the X-axis direction.

2. The robotic device for close range implantation of prostate particles according to claim 1, wherein: the guide plate (3-3-1) is provided with 80mm multiplied by 80mm array navigation holes (3-3-1-1) with the center distance of 4mm, the front ends of the navigation holes (3-3-1-1) are provided with conical arc grooves (3-3-1-2), and the edges of the conical arc grooves (3-3-1-2) are tangent; if an error exists, when the outer needle (4-1-17) approaches the guide plate (3-3-1), the needle point of the outer needle (4-1-17) is on the conical arc groove (3-3-1-2), and the outer needle (4-1-17) can slide into the navigation hole (3-3-1-1) along the conical arc groove (3-3-1-2).

3. The robotic device for close range implantation of prostate particles according to claim 1, wherein: the particle gun seat (4-1-15) of the particle implantation gun (4-1) is arranged below the particle gun connecting plate (4-2-8), the I-shaped base (4-1-5) is arranged at the rear end of the particle gun seat (4-1-15), and the I-shaped base (4-1-5) is provided with an outer needle control motor (4-1-1) and an inner needle control motor (4-1-2); the output shaft of the outer needle control motor (4-1-1) is connected with a screw II (4-1-6) arranged on the particle gun base (4-1-15) through a coupler II (4-1-3), and the output shaft of the inner needle control motor (4-1-2) is connected with a screw III (4-1-7) arranged on the particle gun base (4-1-15) through a coupler III (4-1-4); a screw II (4-1-6) is provided with a nut sliding sleeve I (4-1-8) and a screw nut III (4-1-11), the screw II (4-1-6) is in threaded connection with the screw nut III (4-1-11), the screw III (4-1-7) is provided with a screw nut II (4-1-10) and a nut sliding sleeve II (4-1-12), and the screw III (4-1-7) is in threaded connection with the screw nut II (4-1-10); the inner needle mounting seat (4-1-9) is arranged on the nut sliding sleeve I (4-1-8) and the screw nut II (4-1-10), and the inner needle (4-1-16) is arranged on the inner needle mounting seat (4-1-9); the outer needle mounting seat (4-1-13) is mounted on a screw nut III (4-1-11) and a nut sliding sleeve II (4-1-12), a particle cartridge clamping bin (4-1-14) is arranged on the outer needle mounting seat (4-1-13), the bottom end of the outer needle (4-1-17) penetrates through the particle cartridge clamping bin (4-1-14), the outer needle (4-1-17) moves on the needle fixing frame (4-1-18), and the needle fixing frame (4-1-18) can play a supporting role in the moving process of the outer needle (4-1-17) so as to prevent the outer needle (4-1-17) from bending.

4. The robotic device for close range implantation of prostate particles according to claim 1, wherein: the position adjusting mechanism (1) comprises an X-axis sliding table mechanism (1-1) and a Z-axis lifting adjusting mechanism (1-2); the X-axis sliding table mechanism (1-1) comprises a rail sliding table (1-1-1), a screw I (1-1-2), a screw nut I (1-1-3), a screw sliding block (1-1-4), a rail sliding block (1-1-5), a sliding table base I (1-1-6), an anti-collision pad (1-1-7), a motor base I (1-1-8), a motor I (1-1-9) and a supporting plate I (1-1-10); the left side and the right side of the sliding table base I (1-1-6) are respectively provided with a track sliding table (1-1-1), each track sliding table (1-1-1) is provided with 2 track sliding blocks (1-1-5), and the track sliding blocks (1-1-5) can freely slide on the track sliding tables (1-1-1); the motor base I (1-1-8) is arranged at one end of the sliding table base I (1-1-6), the motor I (1-1-9) is fixedly connected to the motor base I (1-1-8) through 4 screws, the screw I (1-1-2) is connected with an output shaft of the motor I (1-1-9), the screw nut I (1-1-3) is in threaded connection with the screw I (1-1-2), the screw nut I (1-1-3) is provided with a screw sliding block (1-1-4), one side of the screw nut I (1-1-3) and the other side of the screw sliding block (1-1-4) are respectively provided with an anti-collision pad (1-1-7), the lead screw sliding block (1-1-4) and the 4 track sliding blocks (1-1-5) are on the same horizontal plane, the supporting plate I (1-1-10) is installed on the lead screw sliding block (1-1-4) and the 4 track sliding blocks (1-1-5), the lead screw I (1-1-2) is driven to rotate through the motor I (1-1-9), so that the lead screw sliding block (1-1-4) on the lead screw nut I (1-1-3) drives the supporting plate I (1-1-10) to move, the X-axis sliding table mechanism (1-1) is moved in the X direction, the Z-axis lifting adjusting mechanism (1-2) is fixedly connected to the supporting plate I (1-1-10), and the Z-axis lifting adjusting mechanism (1-2) comprises a fixed base (1-2-1) and a movable sliding table (1-1) 2-2), the slide way boss (1-2-1-1) on the fixed base (1-2-1) is matched and connected with the slide way groove (1-2-2-1) on the movable sliding table (1-2-2), so that the Z-axis lifting adjusting mechanism (1-2) can slide in the Z-axis direction in a two-way mode; the operation trolley (5) comprises universal wheels (5-1), drawers (5-2) and arc-shaped handles (5-3), stepped holes (1-1-6-1) are formed in a sliding table base I (1-1-6) of the X-axis sliding table mechanism (1-1), and the X-axis sliding table mechanism (1-1) is fixed on the operation trolley (5) through bolts and nuts.