CN216777762U

CN216777762U - Multi-dimensional movement positioning device for HIFU treatment head of animal

Info

Publication number: CN216777762U
Application number: CN202123227288.0U
Authority: CN
Inventors: 杜谚明; 李可; 董军挥; 朱威桢
Original assignee: Zhonghui Medical Technology Shanghai Co ltd
Current assignee: Zhonghui Medical Technology Shanghai Co ltd
Priority date: 2021-12-21
Filing date: 2021-12-21
Publication date: 2022-06-21
Anticipated expiration: 2031-12-21

Abstract

The utility model discloses a multidimensional movement positioning device of an animal HIFU treatment head, which comprises a three-dimensional linear movement mechanism, a rotating mechanism, a swinging mechanism and a treatment head; the three-dimensional linear motion mechanism comprises an X-axis linear module, a Y-axis linear module and a Z-axis linear module; the rotating mechanism comprises a rotating motor, a hollow rotating platform and a turntable supporting structure, and the other end of the rotating mechanism is connected with the swinging mechanism through a rotating flange of the hollow rotating platform; the swing mechanism comprises a swing support frame, the swing support frame is fixedly connected with the hollow rotating platform, and a transmission device capable of driving the treatment head is arranged in the swing support frame; an ultrasonic positioning probe is arranged in the treatment head. The utility model provides a multidimensional movement positioning device of an animal HIFU treatment head, which can realize multi-angle positioning, has small equipment volume, simple movement mechanism, low realization cost, good stability and convenient operation and is worthy of popularization and use.

Description

Multi-dimensional movement positioning device for HIFU treatment head of animal

Technical Field

The utility model relates to the technical field of High Intensity Focused Ultrasound (HIFU) tumor treatment, in particular to a multi-dimensional motion positioning device for an HIFU treatment head of an animal.

Background

The High Intensity Focused Ultrasound (HIFU) tumor treatment technology is a novel tumor treatment method, and is characterized in that ultrasonic beams with lower energy density are converged at a tumor part in a body, and the heat effect of the ultrasonic waves at the focus forms high temperature of more than 60 ℃ at a target area, so that protein denaturation and tissue cell coagulative necrosis are caused, and the purpose of treating tumors is achieved. Due to its green, non-invasive nature, it is subject to increasingly extensive research and clinical applications.

In the prior art, an ultrasonic treatment head motion control device and a treatment method with a large-range target area focusing, which is applied for CN202010690249.5, comprises a swing control module and an ultrasonic imaging probe control module, wherein the swing control module consists of a vertical direction motion module, a left-right direction motion module and an axial motion module, and the three motion modules respectively control the probe control module to swing along a front-back degree of freedom, a left-right degree of freedom and rotate axially and perform ultrasonic imaging of a target area; the vertical direction movement module comprises a lifting cross arm, a first rotary table is mounted at the end of the lifting cross arm, and a power input end of the first rotary table is in driving connection with a first swing motor; the left and right direction movement module comprises a metal connecting piece which is rotationally connected with the first turntable body, a second swing motor is installed on one side of the metal connecting piece, the output end of the second swing motor is in driving connection with the power input end of the second turntable, and the large-range target area focusing ultrasonic treatment head movement control device and the treatment method have the effects of simple structure, easiness in manufacturing and capability of reducing cost, and realize irradiation treatment of different treatment units through swinging the treatment head, so that the device is novel and creative.

It still has drawbacks: 1. the device has large volume and heavy weight, and small animals have small volume, and the existing device is often difficult to position, complex to operate and the like when being used for clinical treatment of the small animals; 2. the positioning of the treatment head of the existing equipment is often completed through the matching movement of a plurality of structures, and the defects of complex mechanical structure and high implementation cost of the system exist.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: the object of the present invention is to provide a multi-dimensional motion positioning device for an HIFU treatment head of an animal, so as to solve the problems mentioned in the above background art.

A multi-dimensional movement positioning device of an HIFU treatment head for animals comprises a three-dimensional linear movement mechanism, a rotating mechanism, a swinging mechanism and a treatment head;

the three-dimensional linear motion mechanism comprises an X-axis linear module, a Y-axis linear module and a Z-axis linear module, wherein power devices are arranged on the X-axis linear module, the Y-axis linear module and the Z-axis linear module, the stroke directions of the X-axis linear module and the Y-axis linear module are mutually vertical, and the stroke directions of the Y-axis linear module and the Z-axis linear module are mutually vertical;

the rotating mechanism comprises a rotating motor, a hollow rotating platform and a rotary table supporting structure, wherein the hollow rotating platform is fixed on an output shaft of the rotating motor and is arranged on the rotary table supporting structure, one end of the rotating mechanism is connected with the three-dimensional linear motion mechanism through the rotary table supporting structure, and the other end of the rotating mechanism is connected with the swinging mechanism through a rotating flange plate of the hollow rotating platform;

the swing mechanism comprises a swing support frame, the swing support frame is fixedly connected with the hollow rotating platform, and a transmission device capable of driving the treatment head is arranged in the swing support frame;

an ultrasonic positioning probe is arranged in the treatment head.

Preferably, the X-axis linear module, the Y-axis linear module and the Z-axis linear module are integrated ball screw linear modules or synchronous belt linear modules.

Preferably, the power devices arranged on the X-axis linear module, the Y-axis linear module and the Z-axis linear module are respectively an X-axis motor, a Y-axis motor and a Z-axis motor, and the Z-axis motor is provided with an electromagnetic brake device.

Preferably, a module connecting structure is arranged between the X-axis linear module and the Y-axis linear module.

Preferably, transmission includes swing motor, the fixed first synchronizing wheel that is provided with of output of swing motor, first synchronizing wheel sets up in hold-in range one end, the hold-in range other end still is provided with the second synchronizing wheel, the fixed first pivot that is provided with in center department of second synchronizing wheel, the articulated second pivot that is provided with on the lateral wall of the relative first pivot of swing support frame, the treatment head is fixed to be set up between second pivot and first pivot.

Preferably, a swing motor base is arranged in the swing support frame and used for positioning and supporting the swing motor.

Preferably, the swing motor is a speed reduction motor, and the diameter of the second synchronizing wheel is larger than that of the first synchronizing wheel.

Preferably, a bearing is embedded in the side wall of the swing support frame, and the second rotating shaft is hinged in the bearing.

Preferably, when the ultrasonic positioning probe is in a vertical position, the central axis of the ultrasonic positioning probe is collinear with the rotating shaft of the hollow rotating platform.

Has the advantages that:

1. the multidimensional movement positioning device for the animal HIFU treatment head provided by the utility model realizes the miniaturization of equipment, occupies smaller area and can meet the clinical treatment requirements of small animals;

2. the multidimensional movement positioning device for the animal HIFU treatment head provided by the utility model realizes the light weight of equipment and the simplification of a transmission mechanism, and although a cantilever structure is adopted, the stress balance of the whole system is maintained without adding a balance weight, so the structure is more simplified and the use is convenient;

3. the straight line module and the hollow rotary platform adopted by the multidimensional movement positioning device for the animal HIFU treatment head are standard finished parts which can be purchased directly from the market, and the multidimensional movement positioning device has good structural rigidity and stable transmission, the use of the finished parts shortens the design and research period, reduces the use amount of non-standard parts and the assembly workload in the production process, thereby reducing the equipment cost and being convenient for popularization and use.

The utility model provides a multi-dimensional motion positioning device for an animal HIFU treatment head, which can realize multi-angle positioning, has small equipment volume, simple motion mechanism, low realization cost, good stability and convenient operation and is worthy of popularization and use.

Drawings

FIG. 1 is a perspective view of a multi-dimensional motion positioning device of a HIFU treatment head of the present invention;

FIG. 2 is a front view of a multi-dimensional motion positioning device of a HIFU treatment head of the present invention;

FIG. 3 is a side view of the multi-dimensional moving positioning device of the HIFU treatment head of the present invention;

fig. 4 is a schematic view of the installation of the ultrasonic positioning probe of the utility model.

In the figure: 1. a three-dimensional linear motion mechanism; 11. an X-axis linear module; 12. a Y-axis linear module; 13. a Z-axis linear module; 14. an X-axis motor; 15. a Y-axis motor; 16. a Z-axis motor; 17. a module connecting structure; 2. a rotation mechanism; 21. a rotating electric machine; 22. a hollow rotating platform; 23. a turntable support structure; 3. a swing mechanism; 31. swinging the support frame; 32. a swing motor; 33. swinging the motor base; 34. a first synchronizing wheel; 35. a synchronous belt; 36. a second synchronizing wheel; 37. a first rotating shaft; 38. a second rotating shaft; 39. a bearing; 4. a treatment head; 41. an ultrasound positioning probe.

Detailed Description

To facilitate an understanding of the utility model, the utility model will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

The utility model provides the following technical scheme:

the first embodiment is as follows:

the utility model provides a first multidimensional movement positioner of HIFU treatment for animal, includes three-dimensional linear motion mechanism 1, rotary mechanism 2, swing mechanism 3 and treatment head 4, wherein, three-dimensional linear motion mechanism 1's setting makes treatment head 4 can realize the diversified motion on horizontal plane and the vertical face, rotary mechanism 2 and swing mechanism 3's setting makes treatment head 4 can realize rotary motion and swing adjusting position, and then reaches the focus region more conveniently, holistic result of use is better.

Three-dimensional linear motion mechanism 1 includes X axle straight line module 11, Y axle straight line module 12 and Z axle straight line module 13, X axle straight line module 11, all be provided with power device on Y axle straight line module 12 and the Z axle straight line module 13, power device's setting is convenient for its adjustment mutual position, make the effective area that can reach wider, and the stroke direction mutually perpendicular of X axle straight line module 11 and Y axle straight line module 12, the stroke direction mutually perpendicular of Y axle straight line module 12 and Z axle straight line module 13, be used for controlling the treatment head respectively and go on around (X axle), left and right (Y axle), linear motion from top to bottom (Z axle), from this more accurate when confirming final three-dimensional coordinate, high durability and convenient use.

The rotating mechanism 2 comprises a rotating motor 21, a hollow rotating platform 22 and a turntable supporting structure 23, the hollow rotating platform 22 is fixed on an output shaft of the rotating motor 21, the hollow rotating platform 22 is installed on the turntable supporting structure 23, that is, the hollow rotating platform 22 comprises two parts, an upper fixed end and a bottom output end, the fixed end is fixedly connected with the turntable supporting structure 23, and the output end is fixedly connected with the swinging mechanism 3 at the bottom, therefore, one end of the rotating mechanism 2 is connected with the three-dimensional linear motion mechanism 1 through the turntable supporting structure 23, and the other end of the rotating mechanism 2 is connected with the swinging mechanism 3 through a rotating flange plate of the hollow rotating platform 22, so that the rotating action is transmitted to the swinging mechanism 3, so that the swinging mechanism 3 can integrally rotate, in the embodiment, the rotating stroke range of the rotating mechanism 2 is 0-180 degrees, the hollow rotary platform 22 has a reduction ratio of 1:20, and can meet general use requirements.

The swing mechanism 3 comprises a swing support frame 31, the swing support frame 31 is fixedly connected with the hollow rotary platform 22, a transmission device capable of driving the treatment head 4 is arranged in the swing support frame 31, and the treatment head 4 can realize swing motion under the action of the transmission device.

The treatment head 4 is provided with an ultrasonic positioning probe 41, when the ultrasonic positioning probe 41 is in a vertical position, the central axis of the ultrasonic positioning probe 41 is collinear with the rotating shaft of the hollow rotating platform 22, and the hollow rotating platform 22 drives the ultrasonic positioning probe 41 to rotate 180 degrees along the central axis, so that the omnibearing scanning and positioning of a focus area are realized.

Example two:

the X-axis linear module 11, the Y-axis linear module 12 and the Z-axis linear module 13 are an integrated ball screw linear module or a synchronous belt linear module, in the embodiment, the positioning precision is 0.05mm, the stroke ranges are 0-250 mm, 0-250 mm and 0-200 mm respectively, and further the clinical treatment requirements of small animals with different sizes can be met, a module connecting structure 17 is arranged between the X-axis linear module 11 and the Y-axis linear module 12, so that the mutual connection is realized and the stability is higher, the power devices arranged on the X-axis linear module 11, the Y-axis linear module 12 and the Z-axis linear module 13 are an X-axis motor 14, a Y-axis motor 15 and a Z-axis motor 16 respectively, the uniform purchase and installation are convenient, the equipment acquisition difficulty is reduced, an electromagnetic brake device is arranged on the Z-axis motor 16, and the situation that the swinging motor 32 slides down due to the self weight of the rotating mechanism 2, the swinging mechanism 3 and the treatment head 4 when the power is cut off is prevented, the use process is safer, and the misoperation is avoided. Practice of

Example three:

the transmission device includes a swing motor 32, the swing motor 32 is a speed reduction motor, and a BKA-PGM06-929 model manufactured by Dongguan Ber happy Intelligent drive technologies, Inc. can be adopted, in this embodiment, the swing motor 32 can be driven by a speed reduction ratio of 1: 10, a swing motor base 33 is arranged in a swing support frame 31, the swing motor base 33 is used for positioning and supporting a swing motor 32, so that the installation of the swing motor 32 is more stable, a first synchronizing wheel 34 is fixedly arranged at the output end of the swing motor 32, the first synchronizing wheel 34 is arranged at one end of a synchronizing belt 35, a second synchronizing wheel 36 is further arranged at the other end of the synchronizing belt 35, and the diameter of the second synchronizing wheel 36 is larger than that of the first synchronizing wheel 34, so that the speed reduction transmission is realized, in the embodiment, the pitch circle diameter of the second synchronizing wheel 36 is twice as large as that of the first synchronizing wheel 34, a large wheel is driven by a small wheel, so that the speed reduction ratio of 1:2 of the synchronizing belt transmission mechanism is realized, a first rotating shaft 37 is fixedly arranged at the center of the second synchronizing wheel 36, a second rotating shaft 38 is hinged on the side wall of the swing support frame 31 opposite to the first rotating shaft 37, a treatment head 4 is fixedly arranged between the second rotating shaft 38 and the first rotating shaft 37, therefore, hinged positioning is achieved, a bearing 39 is embedded in the side wall of the swing support frame 31, the second rotating shaft 38 is hinged to the bearing 39, the second rotating shaft 38 rotates more smoothly due to the position of the bearing 39, stagnation and blockage cannot occur, and the use is smooth.

The working principle is as follows: when in use, the swing motor 32 drives the first synchronous wheel 34 to rotate, the second synchronous wheel 36 rotates along with the first synchronous wheel 34 under the transmission action of the synchronous belt 35, and the second synchronous wheel 36 is driven by the first rotating shaft 37

Move treatment head 4 and carry out the swing motion, treatment head 4 then drives the articulated rotation in bearing 39 of second pivot 38 on another side for treatment head 4 can realize all-round scanning and location to the focus region, simple structure, and convenient to use, in this embodiment, swing mechanism 3 can realize the swing range of 30, can satisfy basic user demand.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the use of the verb "comprise a" to define an element does not exclude the presence of another, same element in a process, method, article, or apparatus that comprises the element.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A multi-dimensional motion positioning device of an animal HIFU treatment head is characterized in that: comprises a three-dimensional linear motion mechanism (1), a rotating mechanism (2), a swinging mechanism (3) and a treatment head (4); the three-dimensional linear motion mechanism (1) comprises an X-axis linear module (11), a Y-axis linear module (12) and a Z-axis linear module (13), wherein power devices are arranged on the X-axis linear module (11), the Y-axis linear module (12) and the Z-axis linear module (13), the stroke directions of the X-axis linear module (11) and the Y-axis linear module (12) are mutually vertical, and the stroke directions of the Y-axis linear module (12) and the Z-axis linear module (13) are mutually vertical; the rotating mechanism (2) comprises a rotating motor (21), a hollow rotating platform (22) and a rotary table supporting structure (23), the hollow rotating platform (22) is fixed on an output shaft of the rotating motor (21), the hollow rotating platform (22) is installed on the rotary table supporting structure (23), one end of the rotating mechanism (2) is connected with the three-dimensional linear motion mechanism (1) through the rotary table supporting structure (23), and the other end of the rotating mechanism (2) is connected with the swinging mechanism (3) through a rotating flange of the hollow rotating platform (22); the swing mechanism (3) comprises a swing support frame (31), the swing support frame (31) is fixedly connected with the hollow rotating platform (22), and a transmission device capable of driving the treatment head (4) is arranged in the swing support frame (31); an ultrasonic positioning probe (41) is arranged in the treatment head (4).

2. A multi-dimensional movement positioning device of a HIFU treatment head for animals according to claim 1, wherein: the X-axis linear module (11), the Y-axis linear module (12) and the Z-axis linear module (13) are integrated ball screw linear modules or synchronous belt linear modules.

3. A multi-dimensional movement positioning device of a HIFU treatment head for animals according to claim 1, wherein: the power devices arranged on the X-axis linear module (11), the Y-axis linear module (12) and the Z-axis linear module (13) are respectively an X-axis motor (14), a Y-axis motor (15) and a Z-axis motor (16), and the Z-axis motor (16) is provided with an electromagnetic brake device.

4. A multi-dimensional movement positioning device of a HIFU treatment head for animals according to claim 1, wherein: and a module connecting structure (17) is arranged between the X-axis linear module (11) and the Y-axis linear module (12).

5. A multi-dimensional movement positioning device of a HIFU treatment head for animals according to claim 1, wherein: the transmission device comprises a swing motor (32), wherein a first synchronizing wheel (34) is fixedly arranged at the output end of the swing motor (32), the first synchronizing wheel (34) is arranged at one end of a synchronous belt (35), a second synchronizing wheel (36) is further arranged at the other end of the synchronous belt (35), a first rotating shaft (37) is fixedly arranged at the center of the second synchronizing wheel (36), a second rotating shaft (38) is hinged to the side wall of the swing support frame (31) relative to the first rotating shaft (37), and the treatment head (4) is fixedly arranged between the second rotating shaft (38) and the first rotating shaft (37).

6. A multi-dimensional movement positioning device of a HIFU treatment head for animals according to claim 5, wherein: a swing motor seat (33) is arranged in the swing support frame (31), and the swing motor seat (33) is used for positioning and supporting a swing motor (32).

7. A multi-dimensional movement positioning device of a HIFU treatment head for animals according to claim 5, wherein: the swing motor (32) is a speed reduction motor, and the diameter of the second synchronous wheel (36) is larger than that of the first synchronous wheel (34).

8. A multi-dimensional movement positioning device of a HIFU treatment head for animals according to claim 5, wherein: a bearing (39) is embedded in the side wall of the swing support frame (31), and the second rotating shaft (38) is hinged in the bearing (39).

9. A multi-dimensional movement positioning device of a HIFU treatment head for animals according to claim 1, wherein: when the ultrasonic positioning probe (41) is in a vertical position, the central axis of the ultrasonic positioning probe is collinear with the rotating shaft of the hollow rotating platform (22).