WO2022126896A1 - 一种用于磁共振引导的五自由度治疗焦点定位装置 - Google Patents

一种用于磁共振引导的五自由度治疗焦点定位装置 Download PDF

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Publication number
WO2022126896A1
WO2022126896A1 PCT/CN2021/082584 CN2021082584W WO2022126896A1 WO 2022126896 A1 WO2022126896 A1 WO 2022126896A1 CN 2021082584 W CN2021082584 W CN 2021082584W WO 2022126896 A1 WO2022126896 A1 WO 2022126896A1
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Prior art keywords
probe
rotating
speed change
motor speed
bearing
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PCT/CN2021/082584
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English (en)
French (fr)
Inventor
苏志强
田周
刘志
王健
孙琪
刘文杰
温家宝
崔磊
吴昊
张胜发
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上海沈德医疗器械科技有限公司
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Application filed by 上海沈德医疗器械科技有限公司 filed Critical 上海沈德医疗器械科技有限公司
Priority to KR1020237020252A priority Critical patent/KR20230108305A/ko
Priority to AU2021404708A priority patent/AU2021404708A1/en
Priority to JP2023535997A priority patent/JP2023553486A/ja
Priority to EP21904836.0A priority patent/EP4245364A1/en
Publication of WO2022126896A1 publication Critical patent/WO2022126896A1/zh
Priority to US18/335,323 priority patent/US20230320693A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N7/02—Localised ultrasound hyperthermia
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/374—NMR or MRI
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/16—Details of sensor housings or probes; Details of structural supports for sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N2007/0056—Beam shaping elements
    • A61N2007/0065—Concave transducers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N2007/0086—Beam steering
    • A61N2007/0091—Beam steering with moving parts, e.g. transducers, lenses, reflectors

Definitions

  • the invention belongs to the technical field of medical devices, and in particular relates to a five-degree-of-freedom treatment focus positioning device for magnetic resonance guidance.
  • Magnetic resonance-guided high-intensity focused ultrasound is a non-invasive thermal ablation technology based on real-time magnetic resonance imaging. It has shown good results in the clinical treatment of uterine fibroids, brain tumors and other tumors in recent years. With the continuous development of real-time imaging technology, this physiotherapy technology can be monitored in real time during the treatment process, which greatly improves the accuracy of treatment and attracts more and more attention from the medical community.
  • phase-controlled high-intensity focused ultrasound treatment system works under the guidance of imaging equipment such as magnetic resonance, it is necessary to obtain images around the diseased tissue in real time from the equipment, which is convenient for doctors to make treatment planning before operation, and facilitate the preliminary evaluation of treatment effect after operation;
  • the focus of the phase-controlled high-intensity focused ultrasound treatment system is on the movable ultrasound probe.
  • the doctor determines the ablation area and prepares for the ablation operation, the accurate and reliable positioning of the ultrasound probe plays a key role in selectively ablating the diseased tissue. .
  • Positioning the ultrasound probe requires precise mechanical controls. Therefore, whether a set of accurate and reliable probe mechanical control device can be invented directly determines the length of treatment time and the accuracy of the treatment range of the lesion, which has a direct impact on the safety of the treatment process and the effect after treatment.
  • Patent CN108042932A discloses an ultrasonic probe control device used in an MRI-pHIFU hyperthermia system, which discloses a probe movement control assembly used to control the probe connection plate to perform multi-degree-of-freedom movement, and the drive bed is provided with a drive to drive the probe to move.
  • the motor speed change group of the control assembly, the probe movement control assembly includes the probe forward and backward movement mechanism, the probe left and right movement mechanism, the probe rotation mechanism and the probe swing mechanism, and the probe connecting plate is installed with the ultrasonic probe.
  • the motor used in the mechanical positioning device used in the magnetic resonance affects the performance of the magnetic resonance, or is far away from the magnetic resonance, resulting in a large error in motion accuracy.
  • the purpose of the present invention is to provide a five-degree-of-freedom treatment focus positioning device for magnetic resonance guidance in order to solve the above problems.
  • a five-degree-of-freedom treatment focus positioning device for magnetic resonance guidance comprising a drive bed body, a work bed body and an auxiliary bed body; the work bed body is provided with a probe connection plate and a probe connection plate for controlling the probe connection plate to perform multiple degrees of freedom
  • a moving probe motion control assembly the probe connecting plate is installed with an ultrasonic probe;
  • the probe motion control assembly includes a probe forward and backward movement mechanism, a probe left and right movement mechanism, a probe rotation mechanism, a probe up and down movement mechanism and a probe swing mechanism;
  • the body is provided with a motor speed change group for driving the probe motion control assembly, the motor speed change group provides power for the probe movement control assembly, and controls the movement of the probe connection plate through coupling, thereby controlling the movement of the ultrasonic probe .
  • the invention adopts the modular design of the driving bed, the working bed and the auxiliary bed, and completely separates the motor variable-speed unit and the ultrasonic probe, thereby effectively avoiding the influence of electromagnetic interference caused by the close proximity of the motor unit and the ultrasonic probe during the operation of the device.
  • the parallel structure design of five degrees of freedom makes the motion process control precise, and the degrees of freedom do not interfere with each other, and the positioning of the probe focus is more flexible and convenient.
  • motor speed change groups including the motor speed change group of the front and rear movement mechanism of the probe, the motor speed change group of the probe left and right moving mechanism, the motor speed change group of the probe rotation mechanism, the motor speed change group of the probe up and down moving mechanism and the motor speed change of the probe swing mechanism.
  • the motor shifting group of the forward and backward moving mechanism of the probe is fixedly connected to the driving bed body, the motor shifting group of the left and right moving mechanism of the probe is fixedly connected to the carriage in the driving area through the first triangular bracket, and the motor of the rotating mechanism of the probe is fixed on the drive plate.
  • the speed change group is fixed on the drive area carriage through the second triangle bracket
  • the motor speed change group of the probe up-and-down movement mechanism is fixed on the drive area carriage through the third triangle bracket
  • the probe swing mechanism motor speed change group is passed through the third triangle bracket.
  • the four triangular brackets are fixedly connected to the drive area carriage, and the drive area carriage is coupled to the drive bed body through the drive area guide rails.
  • each motor speed change group includes a motor frame, a large gear and a small gear installed in the motor frame, the small gear is meshed with the large gear, the ultrasonic motor is fixed on the small gear, and the large gear is connected to the motor.
  • the output shaft is fixedly connected, and the motor output shaft is coupled to the motor frame through the motor set bearing.
  • the front and rear movement mechanism of the probe includes a sliding rail embedded on the dovetail groove guide rail, the dovetail groove guide rail is coupled to the working bed body through the guide rail fixing bracket, and the left and right moving carriage of the work area is connected through the front and rear connection components. It is connected with the motor speed change group of the forward and backward moving mechanism of the probe and moves forward and backward.
  • front and rear connection assemblies include front and rear push rods and front and rear moving screw rods, one end of the left and right push rods is connected to the left and right moving carriages in the working area through the front and rear moving supports, and the other end is fixed to the driving zone carriages through the adjusting block.
  • One end of the front and rear moving screw rod is connected with the motor speed change group of the front and rear moving mechanism of the probe through a coupling, and the other end is coupled with the front and rear moving screw nut fixed on the driving area carriage.
  • the probe left and right moving mechanism includes a work area carriage coupled to the work area left and right moving carriage through the left and right moving slide rails, and the work area carriage is driven by the left and right moving screw rods and the first transmission for changing the direction of the power.
  • the first transmission unit is connected with the motor speed change group of the left and right moving mechanism of the probe through the transmission front and rear moving rod and the coupling, and moves left and right.
  • the first transmission unit includes two bevel gears 1 and 2 that mesh with each other.
  • the first bevel gear is fixed on one end of the front and rear moving rods of the transmission, and the second bevel gear is fixed on the left and right moving wires of the transmission.
  • the first working area bearing is installed on the front and rear moving rods of the transmission, which is supported and fixed by the first bearing bracket.
  • the first working area bearing is provided with a square bearing cover. It is supported and fixed by the second bearing bracket, and a circular bearing cover is arranged outside the second bearing in the working area.
  • the probe swing mechanism includes a transmission worm screw, a transmission worm connected with the transmission worm screw, a transmission worm gear meshed with the transmission worm, and a rotating sleeve connected with the transmission worm, and the rotating sleeve is fixedly connected to the rotating frame, Rotational motion is generated between the rotating frame and the first rotating side plate, and the second rotating side plate can generate rotating motion.
  • One end of the transmission worm screw is mounted on the worm bracket, and the other end is connected to the second transmission that changes the power direction.
  • the second transmission unit is connected with the probe rotation mechanism motor speed change group through the drive area coupling 2 and the front and rear rotation shafts of the transmission, the transmission worm is arranged in the worm bracket, and the working area carriage is provided with a limit Sleeve limiter that rotates the sleeve back and forth.
  • the second transmission unit includes a working area bearing 3, a working area bearing 4, a bearing bracket 3, a bearing bracket 4, a circular bearing cap 2, a square bearing cap 2, a bevel gear 3 and a bevel gear 4.
  • the transmission The front and rear rotating shafts are coupled with the bearing bracket 3 through the working area bearing 3, and are fixedly connected with the bevel gear 3, the circular bearing cover 2 is clamped on the working area bearing 3 and fixed on the bearing bracket 3, and the bevel gear 3 is connected with the bevel gear 3.
  • the bevel gear four meshes, the bevel gear four is fixedly connected with the transmission worm screw, the transmission worm screw is coupled with the bearing bracket four through the working area bearing four, and the square bearing cover two is clamped on the working area bearing four And fixed on the bearing bracket four.
  • the probe rotating mechanism includes a probe rotating mechanism motor speed change group, a rotating mechanism nut, a rotating mechanism nut holder, a rotating screw, a rotating guide rod, a rotating shaft, a rotating crank, a rotating crank, a rotating transmission shaft, and a rotating block.
  • Connecting rod one, connecting rod two, the probe rotating mechanism motor speed change group rotates the rotating mechanism nut to realize the forward and backward movement of the rotating connecting rod, and the rotating connecting rod realizes the forward and backward movement of the rotating shaft through the rotating guide rod
  • the rotation guide rod and the rotation shaft have no movement restriction in the left and right directions.
  • the rotating shaft transmits the motion to the rotating clamping block through the rotating crank and the rotating transmission shaft, and the rotating clamping block directly drives the probe connecting plate to realize the rotating motion through the first connecting rod and the second connecting rod, wherein the rotating shaft and the rotating crank
  • the rotating crank is fixedly connected to a rotating transmission shaft
  • the rotating transmission shaft is fixedly connected to the rotating clamping block.
  • the probe up and down movement mechanism includes a probe up and down movement mechanism motor speed change group, an up and down movement mechanism nut, an up and down movement mechanism nut bracket, an up and down movement mechanism screw, an up and down movement mechanism guide rod, an up and down movement mechanism drive shaft, and an up and down movement mechanism.
  • the conduction block, the crank of the up and down movement mechanism, the connection block of the up and down movement mechanism, the probe support frame of the up and down movement mechanism, the probe connection plate, the motor speed change group of the up and down movement mechanism converts the rotary motion into the up and down movement mechanism through the up and down movement mechanism nut
  • the linear motion of the lead screw, the up-down moving mechanism wire transmits the motion to the up-down moving mechanism transmission shaft through the up-down moving mechanism guide rod, and then drives the up-down moving mechanism conduction block to move, and the up-down moving mechanism conduction block passes through the up and down moving mechanism.
  • the crank directly drives the up-and-down movement mechanism connecting block to move, the up-down movement mechanism connection block is fixedly connected with the up-down movement mechanism probe support frame, and the up-down movement mechanism probe support frame is fixedly connected with the probe connection plate, thereby driving the probe Rotate in the up and down direction to realize the movement of the probe in the up and down direction.
  • the whole machine of the invention is non-magnetic and fully compatible with MRI equipment.
  • the feasibility and performance of motion has been verified in the MRI-pHIFU hyperthermia system for ablation of bone tumors, and it can assist the ultrasound system to accurately move and position the focus during the treatment process. , to make up for the insufficiency of the phase-controlled focusing focus in the spatial movement range, which is of great significance to achieve large-scale bone tumor ablation, reduce ablation errors, and achieve precise treatment.
  • the present invention has the following advantages:
  • the present invention adopts the modular design of the driving bed body, the working bed body and the auxiliary bed body, and completely separates the motor speed change unit and the ultrasonic probe, which effectively avoids the influence of electromagnetic interference caused by the proximity of the motor unit and the ultrasonic probe during the operation of the device.
  • the patent CN108042932A only sets two modules of the driving bed and the working bed. From the perspective of the movement range of the probe, the present invention increases the degree of freedom in the up-down direction and greatly improves the treatment range.
  • the crank of the moving mechanism, the connecting block of the up-and-down moving mechanism, and the probe support frame of the up-and-down moving mechanism enable the probe connecting plate to rotate within a specified angle range within the upper and lower range, and the movement space is greatly improved.
  • the parallel structure design of five degrees of freedom makes the movement process control accurate, and the degrees of freedom do not interfere with each other.
  • the positioning of the probe focus is more flexible and convenient, and more optional angles and directions are improved for the treatment of different parts of the human body.
  • the patent CN108042932A is a four-axis mechanism, the position and posture that the control probe can reach is limited, and the ideal position and posture of the probe cannot be achieved during the treatment of some tumors.
  • the guide rod of the up-down movement mechanism transmits the motion to the transmission shaft of the up-down movement mechanism, it drives the conduction block of the up-down movement mechanism to move, and then directly drives the connection block of the up-down movement mechanism to move through the up-down movement mechanism crank, which in turn drives the movement of the connection block of the up-down movement mechanism through the up-down movement mechanism.
  • Drive the probe to rotate in the up and down direction. The realization of this process improves the 360-degree free space swing and rotation of the probe, which greatly improves the effect of treatment.
  • FIG. 1 and 2 are schematic diagrams of the overall structure of the device of the present invention.
  • Fig. 3 is the structural schematic diagram of the motor speed change group of the device of the present invention.
  • FIG. 4 is a schematic diagram of the internal structure of the motor speed change group of the device of the present invention.
  • FIG. 5 is a schematic structural diagram of the forward and backward moving mechanism of the probe of the device of the present invention.
  • FIG. 6 is a schematic structural diagram of the left and right moving mechanism of the probe of the device of the present invention.
  • Fig. 7 is the structural schematic diagram of the probe swinging mechanism of the device of the present invention.
  • Fig. 8 is the partial enlarged schematic diagram of Fig. 7;
  • FIGS. 9 and 10 are schematic structural diagrams of the probe rotating mechanism of the device of the present invention.
  • 11 and 12 are schematic diagrams of the structure of the probe of the probe up and down moving mechanism.
  • An ultrasonic probe control device used in an MRI-pHIFU hyperthermia system includes a driving bed 10020, a working bed 10030 and an auxiliary bed 10031, and the working bed 10030 is provided with a probe connection
  • the disk 10081 and the probe motion control assembly for controlling the probe connecting disk 10081 to perform multi-degree-of-freedom motion
  • the drive bed 10020 is provided with a motor speed change group 10040 for driving the probe motion control assembly
  • the probe motion control assembly includes the probe moving back and forth Mechanism 10070, probe left and right movement mechanism 10060, probe rotation mechanism 10050, probe up and down movement mechanism 10061 and probe swing mechanism 10080
  • the probe connecting plate 10081 is installed with the ultrasonic probe
  • the motor speed change group 10040 provides power for the probe movement control component, and controls the probe through coupling
  • the connecting plate 10081 moves, thereby controlling the movement of the ultrasound probe.
  • the probe forward and backward moving mechanism motor speed change group 10090 is fixed on the drive bed 10020
  • the probe left and right moving mechanism motor speed change group 10100 is fixed on the drive area carriage 10150 through the first tripod bracket 10140
  • the motor speed change group 10101 of the probe rotation mechanism is fixed on the drive area carriage 10150 through the second tripod bracket 10180
  • the motor speed change group 10110 of the probe up and down movement mechanism is fixed on the drive area carriage 10150 through the third triangle bracket 10170
  • the speed change group 10120 is fixedly connected to the drive area carriage 10150 through the fourth triangle bracket 10171
  • the drive area carriage 10150 is coupled to the drive bed 10020 through the drive area guide rail 10160 .
  • each motor speed change group includes a motor frame 10240 , a large gear 10210 and a pinion gear 10200 installed in the motor frame 10240 , the pinion gear 10200 meshes with the large gear 10210 , and the ultrasonic motor 10190 is fixed on the pinion gear 10200 , the large gear 10210 is fixedly connected with the motor output shaft 10220, and the motor output shaft 10220 is coupled to the motor frame 10240 through the motor unit bearing 10230.
  • the probe forward and backward moving mechanism 10070 includes a sliding rail embedded on the dovetail groove guide 10310, the dovetail groove guide 10310 is coupled to the working bed 10030 through the guide rail fixing bracket 10311, and the working area moves the carriage 10300 to the left and right through the
  • the front and rear connection components are connected with the motor speed change group 10090 of the front and rear moving mechanism of the probe and move back and forth.
  • the front and rear connection components include front and rear push rods 10280 and front and rear moving screw rods 10251.
  • One end of the left and right push rods 10280 is connected to the left and right moving carriages 10300 in the working area through the front and rear moving supports 10290, and the other end is fixedly connected to the driving area carriage 10150 through the adjusting block 10270.
  • One end of the front and rear moving screw 10251 is connected to the motor speed change group 10090 of the forward and backward moving mechanism of the probe through the coupling 10250, and the other end is coupled with the front and rear moving screw nut 10260 fixed on the driving area carriage 10150.
  • the probe left and right moving mechanism 10060 includes a work area carriage 10440 coupled to the work area left and right moving carriage 10300 through the left and right moving slide rails 10450.
  • the work area carriage 10440 moves the screw rod 10420 left and right by driving and changes the power
  • the first transmission unit is connected to the direction of the first transmission unit.
  • the first transmission unit is connected to the probe left and right moving mechanism motor speed change group 10100 through the transmission front and rear moving rod 10330 and the coupling 10320, and moves left and right.
  • the first transmission unit includes two bevel gears 10350 and 2 bevel gears 10360, the first bevel gear 10350 is fixed on one end of the front and rear moving rod 10330 of the transmission, and the second bevel gear 10360 is fixed on one end of the left and right moving screw 10420 of the transmission.
  • the working area bearing 10340 is installed on the front and rear moving rod 10330 of the transmission, and is supported and fixed by the bearing bracket 10390.
  • the working area bearing 10340 is provided with a square bearing cover 10410. It is supported and fixed by the second bearing bracket 10400.
  • the second bearing 10370 in the working area is provided with a circular bearing cover 10380, and the left and right moving screw rods 10420 are driven to be fixed on the working area carriage 10440 through the screw bracket 10430.
  • the probe swing mechanism 10080 includes a transmission worm screw 10560, a transmission worm 10570 connected with the transmission worm screw 10560, a transmission turbine 10580 engaged with the transmission worm 10570, and a rotating sleeve connected with the transmission turbine 10580 10590, the rotating sleeve 10590 is fixed to the rotating frame 10600, the rotating frame 10600 and the first rotating side plate 10610 generate a rotating motion, and the second rotating side plate 10620 can generate a rotating motion, and one end of the driving worm screw 10560 is installed on the worm bracket 10630 The other end is connected to the second transmission unit that changes the power direction.
  • the second transmission unit is connected to the probe rotation mechanism motor speed change group 10110 through the drive area coupling 210460 and the front and rear rotation shafts 10470.
  • the transmission worm 10570 is set on the worm bracket 10630 Inside, the working area pallet 10440 is provided with a tube sleeve limiting block 10640 for restricting the forward and backward movement of the rotating sleeve 10590 .
  • the second transmission unit includes working area bearing three 10480, working area bearing four 10490, bearing bracket three 10500, bearing bracket four 10510, round bearing cover two 10520, square bearing cover two 10530, bevel gear three 10540 and bevel gear four 10550,
  • the front and rear rotating shafts 10470 of the transmission are coupled with the bearing bracket 3 10500 through the working area bearing 3 10480, and are fixedly connected with the bevel gear 3 10540.
  • the circular bearing cover 10520 is clamped on the working area bearing 3 10480 and fixed on the bearing bracket 3 10500.
  • the bevel gear 3 10540 meshes with the bevel gear 4 10550, the bevel gear 4 10550 is fixedly connected with the transmission worm screw 10560, the transmission worm screw 10560 is coupled with the bearing bracket 4 10510 through the working area bearing 4 10490, and the square bearing cover 2 10530 is stuck at work
  • the area bearing four 10490 is fixed on the bearing bracket four 10510.
  • the probe rotation mechanism 10050 includes a probe rotation mechanism motor speed change group 10101, a rotation mechanism nut 10660, a rotation mechanism nut fixing frame 10670, a rotation screw 10680, a rotation guide rod 10690, a rotation shaft 10700, and a rotation crank 10701 , rotating crank 10701, rotating transmission shaft 10702, rotating block 10703, connecting rod one 10720, connecting rod two 10730, the probe rotating mechanism motor speed change group 10101 rotates the rotating mechanism nut 10660 to realize the forward and backward movement of the rotating connecting rod 10680 , the rotating connecting rod 10680 realizes the forward and backward movement of the rotating shaft 10700 through the rotating guide rod 10690, and the rotating guide rod 10690 and the rotating shaft 10700 have no movement restrictions in the left and right directions.
  • the rotating shaft 10700 transmits the motion to the rotating block 10703 through the rotating crank 10701 and the rotating transmission shaft 10702, and the rotating block 10703 directly drives the probe connecting plate 10081 through the connecting rod 10720 and connecting rod 2 10730 to realize the rotating motion.
  • the rotating shaft 10700 It is rotationally coupled with the rotating crank 10701 , the rotating crank 10701 is fixedly connected with the rotating transmission shaft 10702 , and the rotating transmission shaft 10702 is fixedly connected with the rotating clamping block 10703 .
  • the probe up and down movement mechanism 10061 includes the probe up and down movement mechanism motor speed change group 10110, the up and down movement mechanism nut 10802, the up and down movement mechanism nut bracket 10801, the up and down movement mechanism screw 10803, the up and down movement mechanism guide rod 10804, Up and down movement mechanism transmission shaft 10805, up and down movement mechanism conduction block 10806, up and down movement mechanism crank 10807, up and down movement mechanism connecting block 10808, up and down movement mechanism probe support frame 10809, probe connection plate 10081, up and down movement mechanism motor speed change group 10110 through the up and down movement mechanism
  • the nut 10802 of the moving mechanism converts the rotational motion into the linear motion of the screw rod 10803 of the up and down moving mechanism.
  • the through block 10806 moves, and the up and down movement mechanism conduction block 10806 directly drives the up and down movement mechanism connecting block 10808 to move through the up and down movement mechanism crank 10807.
  • the support frame 10809 is fixedly connected with the probe connecting plate 10081, and then drives the probe to rotate in the up and down direction, so as to realize the movement of the probe in the up and down direction.

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  • Magnetic Resonance Imaging Apparatus (AREA)

Abstract

本发明涉及一种用于磁共振引导的五自由度治疗焦点定位装置，包括驱动床体、工作床体以及辅助床体，工作床体内设有探头连接盘以及探头运动控制组件，驱动床体内设有用于驱动探头运动控制组件的电机变速组，探头运动控制组件包括探头前后移动机构、探头左右移动机构、探头上下移动机构、探头旋转机构和探头摆动机构，探头连接盘安装超声探头，治疗焦点位置由超声探头决定。本发明采用驱动床体、工作床体和辅助床体模块化设计，将电机变速组和超声探头完全分离，避免电机组与超声探头近距离带来电磁干扰影响；五自由度的并联结构设计，运动过程控制精确，各自由度之间互不干扰，对探头焦点的定位更加灵活方便。

Description

一种用于磁共振引导的五自由度治疗焦点定位装置 技术领域
本发明属于医疗器械技术领域，具体涉及一种用于磁共振引导的五自由度治疗焦点定位装置。
背景技术
磁共振引导的高强度聚焦超声是一项建立在磁共振实时成像基础上的无创热消融技术，近年来在子宫肌瘤、脑肿瘤等肿瘤的临床治疗中表现出了良好的效果，近年来，随着实时成像技术的不断发展，该项物理治疗技术在治疗的过程中能够得到实时监控，大大提高了治疗的准确度，也越来越引起医学界的高度关注。
相控型高强度聚焦超声治疗系统在磁共振等成像设备引导下工作时，需要从该设备中实时获取病变组织周围的图像，术前便于医生进行治疗规划，术后便于初步评估治疗效果；而相控型高强度聚焦超声治疗系统的焦点是在可移动的超声探头上，当医生确定了消融区域准备进行消融手术时，准确可靠地定位超声探头对于有选择地消融病变组织起着关键的作用。而定位超声探头，就需要精准的机械控制装置。因此，能否发明一套准确可靠的探头机械控制装置，直接决定了治疗时间的长短及病灶治疗范围的精确度，这对治疗过程的安全程度以及治疗后的效果有着直接的影响。
由此，各类探头控制设备应运而生。专利CN108042932A公开了一种用于MRI-pHIFU热疗系统中的超声探头控制装置，其公开了用于控制探头连接盘进行多自由度运动的探头移动控制组件，驱动床体内设有用于驱动探头移动控制组件的电机变速组，探头移动控制组件包括探头前后移动机构、探头左右移动机构、探头旋转机构和探头摆动机构，探头连接盘安装超声探头。然而，用于磁共振中的机械定位装置使用的电机会影响磁共振的性能，或距离磁共振较远，导致运动精度误差较大。
发明内容
本发明的目的就是为了解决上述问题而提供一种用于磁共振引导的五自由度治疗焦点定位装置。
本发明的目的通过以下技术方案实现：
一种用于磁共振引导的五自由度治疗焦点定位装置，包括驱动床体、工作床体和辅助床体；所述工作床体内设有探头连接盘以及用于控制探头连接盘进行多自由度运动的探头运动控制组件，所述探头连接盘安装超声探头；所述探头运动控制组件包括探头前后移动机构、探头左右移动机构、探头旋转机构、探头上下移动机构和探头摆动机构；所述驱动床体内设有用于驱动所述探头运动控制组件的电机变速组，所述电机变速组为所述探头移动控制组件提供动力，并通过耦合控制所述探头连接盘运动，进而控制所述超声探头的运动。
本发明采用驱动床体、工作床体和辅助床体模块化设计，将电机变速组和超声探头完全分离，有效避免在装置运行过程中电机组与超声探头近距离带来的电磁干扰影响。五自由度的并联结构设计，使运动过程控制精确，各自由度之间互不干扰，对于探头焦点的定位更加灵活方便。
进一步地，所述电机变速组设有五个，包括探头前后移动机构电机变速组、探头左右移动机构电机变速组、探头旋转机构电机变速组、探头上下移动机构电机变速组和探头摆动机构电机变速组，所述探头前后移动机构电机变速组固连在所述驱动床体上，所述探头左右移动机构电机变速组通过第一三角支架固连在驱动区拖板上，所述探头旋转机构电机变速组通过第二三角支架固定在所述驱动区拖板上，所述探头上下移动机构电机变速组通过第三三角支架固连在驱动区拖板上，所述探头摆动机构电机变速组通过第四三角支架固连在驱动区拖板上，所述驱动区拖板通过驱动区导轨耦合在所述驱动床体上。
进一步地，每一个电机变速组均包括电机架、安装在电机架内的大齿轮和小齿轮，所述小齿轮与大齿轮啮合，所述小齿轮上固连超声电机，所述大齿轮与电机输出轴固连，所述电机输出轴通过电机组轴承耦合在电机架上。
进一步地，所述探头前后移动机构包括通过滑轨镶嵌在燕尾槽形导轨上，所述燕尾槽形导轨通过导轨固定支架耦合在工作床体上，所述工作区左右移动拖板通过前后连接组件与所述探头前后移动机构电机变速组连接并进行前后移动。
进一步地，所述前后连接组件包括前后推动杆和前后移动丝杆，所述左右推动 杆一端通过前后移动支撑与工作区左右移动拖板连接，另一端通过调节块与所述驱动区拖板固连，所述前后移动丝杆一端通过联轴器与探头前后移动机构电机变速组连接，另一端与固连在驱动区拖板上的前后移动丝杆螺母耦合在一起。
进一步地，所述探头左右移动机构包括通过左右移动滑轨耦合在工作区左右移动拖板上的工作区拖板，所述工作区拖板通过传动左右移动丝杆与改变动力方向的第一传动单元连接，所述第一传动单元通过传动前后移动杆及联轴器与探头左右移动机构电机变速组连接并进行左右移动。
进一步地，所述第一传动单元包括两个相齿合的锥齿轮一和锥齿轮二，所述锥齿轮一固接在传动前后移动杆一端，所述锥齿轮二固接在传动左右移动丝杆一端，所述传动前后移动杆上安装工作区轴承一，并由轴承支架一支撑固定，工作区轴承一外设有方形轴承盖，所述传动左右移动丝杆上安装工作区轴承二，并由轴承支架二支撑固定，工作区轴承二外设有圆形轴承盖，所述传动左右移动丝杆通过螺杆支架固定在工作区拖板上。
进一步地，所述探头摆动机构包括传动蜗杆丝杆、与传动蜗杆丝杆连接的传动蜗杆、与传动蜗杆齿合的传动涡轮、与传动涡轮连接的旋转套，所述旋转套固连旋转架，所述旋转架与第一旋转侧板之间产生旋转运动，和第二旋转侧板可产生旋转运动，所述传动蜗杆丝杆一端安装在蜗杆支架上，另一端与改变动力方向的第二传动单元连接，所述第二传动单元通过驱动区联轴器2及传动前后旋转轴与探头旋转机构电机变速组连接，所述传动蜗杆设于蜗杆支架内，所述工作区拖板上设有限制旋转套前后移动的管套限位块。
进一步地，所述第二传动单元包括工作区轴承三、工作区轴承四、轴承支架三、轴承支架四、圆形轴承盖二、方形轴承盖二、锥齿轮三和锥齿轮四，所述传动前后旋转轴通过工作区轴承三与轴承支架三耦合，且与锥齿轮三固连，所述圆形轴承盖二卡在工作区轴承三上且固定在轴承支架三上，所述锥齿轮三与锥齿轮四啮合，所述锥齿轮四与所述传动蜗杆丝杆固连，所述传动蜗杆丝杆通过工作区轴承四与轴承支架四耦合，方形轴承盖二卡在所述工作区轴承四上且固定在轴承支架四上。
进一步地，所述探头旋转机构包括探头旋转机构电机变速组、旋转机构螺母、旋转机构螺母固定架、旋转丝杆、旋转导向杆、旋转轴、旋转曲柄、旋转曲柄、旋转传动轴、旋转卡块、连杆一、连杆二，所述探头旋转机构电机变速组通过对旋转机构螺母进行旋转，实现旋转连丝杆的前后移动，所述旋转连丝杆通过旋转导向杆 实现旋转轴的前后移动，所述旋转导向杆所述与旋转轴在左右方向没有运动限制。所述旋转轴通过旋转曲柄和旋转传动轴将运动传递给旋转卡块，所述旋转卡块通过连杆一、连杆二直接带动探头连接盘实现旋转运动，其中，所述旋转轴与旋转曲柄为转动耦合，所述旋转曲柄与旋转传动轴固连，所述旋转传动轴与所述旋转卡块固连。
进一步地，所述探头上下移动机构包括探头上下移动机构电机变速组、上下移动机构螺母、上下移动机构螺母支架、上下移动机构丝杆、上下移动机构导向杆、上下移动机构传动轴、上下移动机构导通块、上下移动机构曲柄、上下移动机构连接块、上下移动机构探头支撑架、探头连接盘，所述上下移动机构电机变速组通过上下移动机构螺母，将旋转运动转换为所述上下移动机构丝杆的直线运动，所述上下移动机构丝通过上下移动机构导向杆将运动传递给上下移动机构传动轴，进而带动上下移动机构导通块运动，所述上下移动机构导通块通过上下移动机构曲柄直接带动上下移动机构连接块运动，所述上下移动机构连接块与所述上下移动机构探头支撑架固连，而所述上下移动机构探头支撑架与所述探头连接盘固连，进而带动探头的上下方向旋转，实现探头在上下方向的运动。其中，所述上下移动机构丝杆与上下移动机构导向杆之间在左右方向没有自由度限制。
本发明整机无磁性，与MRI设备完全兼容，在MRI-pHIFU热疗系统消融骨肿瘤实验方面已得到运动可行性与性能的验证，能够辅助超声系统在治疗过程中对焦点进行准确移动、定位，弥补相控聚焦焦点在空间移动范围上的不足，对于实现大范围的骨肿瘤消融，减少消融误差，实现精准治疗具有巨大的意义。
与现有技术相比，本发明具有以下优点：
1、本发明采用驱动床体、工作床体和辅助床体模块化设计，将电机变速组和超声探头完全分离，有效避免在装置运行过程中电机组与超声探头近距离带来的电磁干扰影响，而专利CN108042932A只设置驱动床体和工作床体2个模块，从探头运动范围来看，本发明增加了上下方向上的自由度，大大提高了治疗的范围。具体而言，由探头上下移动机构电机变速组带动上下移动机构螺母、上下移动机构螺母支架、上下移动机构丝杆、上下移动机构导向杆、上下移动机构传动轴、上下移动机构导通块、上下移动机构曲柄、上下移动机构连接块、上下移动机构探头支撑架，使探头连接盘在上下范围内可以实现规定角度范围转动，运动空间大大提高。
2、五自由度的并联结构设计，使运动过程控制精确，各自由度之间互不干扰， 对于探头焦点的定位更加灵活方便，为人体不同部位的治疗提高了更多可选择的角度和方向。而专利CN108042932A为四轴机构，其控制探头所能达到的位置和姿态有限，在某些肿瘤的治疗过程中将会不能实现探头理想位置和姿态。具体而言，由于上下移动机构导向杆将运动传递给上下移动机构传动轴，进而带动上下移动机构导通块运动，进而通过上下移动机构曲柄直接带动上下移动机构连接块运动，进而通过上下移动机构带动探头的上下方向旋转，此过程的实现，为探头提高了360度自由的空间摆动和旋转，大大提高了治疗的效果。
附图说明
图1、2为本发明装置的整体结构示意图；
图3为本发明装置电机变速组的结构示意图；
图4为本发明装置电机变速组内部机构结构示意图；
图5为本发明装置探头前后移动机构的结构示意图；
图6为本发明装置探头左右移动机构的结构示意图；
图7为本发明装置探头摆动机构的结构示意图；
图8为图7的局部放大示意图；
图9、10本发明装置探头旋转机构的结构示意图；
图11、12为探头上下移动机构探头的结构示意图。
具体实施方式
下面结合附图和具体实施例对本发明进行详细说明。
一种用于MRI-pHIFU热疗系统中的超声探头控制装置，如图1、2所示，包括驱动床体10020、工作床体10030和辅助床体10031，工作床体10030内设有探头连接盘10081以及用于控制探头连接盘10081进行多自由度运动的探头运动控制组件，驱动床体10020内设有用于驱动探头运动控制组件的电机变速组10040，其中，探头运动控制组件包括探头前后移动机构10070、探头左右移动机构10060、探头旋转机构10050、探头上下移动机构10061和探头摆动机构10080，探头连接盘10081安装超声探头，电机变速组10040为探头移动控制组件提供动力，并通过耦合控制探头连接盘10081运动，进而控制超声探头运动。
如图3所示，电机变速组10040设有五个，包括探头前后移动机构电机变速组 10090、探头左右移动机构电机变速组10100、探头旋转机构电机变速组10101、探头上下移动机构电机变速组10110和探头摆动机构电机变速组10120，探头前后移动机构电机变速组10090固连在驱动床体10020上，探头左右移动机构电机变速组10100通过第一三角支架10140固连在驱动区拖板10150上，探头旋转机构电机变速组10101通过第二三角支架10180固定在驱动区拖板10150上，探头上下移动机构电机变速组10110通过第三三角支架10170固连在驱动区拖板10150上，探头摆动机构电机变速组10120通过第四三角支架10171固连在驱动区拖板10150上，驱动区拖板10150通过驱动区导轨10160耦合在驱动床体10020上。
如图4所示，每一个电机变速组均包括电机架10240、安装在电机架10240内的大齿轮10210和小齿轮10200，小齿轮10200与大齿轮10210啮合，小齿轮10200上固连超声电机10190，大齿轮10210与电机输出轴10220固连，电机输出轴10220通过电机组轴承10230耦合在电机架10240上。
如图5所示，探头前后移动机构10070包括通过滑轨镶嵌在燕尾槽形导轨10310上，燕尾槽形导轨10310通过导轨固定支架10311耦合在工作床体10030上，工作区左右移动拖板10300通过前后连接组件与探头前后移动机构电机变速组10090连接并进行前后移动。前后连接组件包括前后推动杆10280和前后移动丝杆10251，左右推动杆10280一端通过前后移动支撑10290与工作区左右移动拖板10300连接，另一端通过调节块10270与驱动区拖板10150固连，前后移动丝杆10251一端通过联轴器10250与探头前后移动机构电机变速组10090连接，另一端与固连在驱动区拖板10150上的前后移动丝杆螺母10260耦合在一起。
如图6所示，探头左右移动机构10060包括通过左右移动滑轨10450耦合在工作区左右移动拖板10300上的工作区拖板10440，工作区拖板10440通过传动左右移动丝杆10420与改变动力方向的第一传动单元连接，第一传动单元通过传动前后移动杆10330及联轴器10320与探头左右移动机构电机变速组10100连接并进行左右移动。第一传动单元包括两个相齿合的锥齿轮一10350和锥齿轮二10360，锥齿轮一10350固接在传动前后移动杆10330一端，锥齿轮二10360固接在传动左右移动丝杆10420一端，传动前后移动杆10330上安装工作区轴承一10340，并由轴承支架一10390支撑固定，工作区轴承一10340外设有方形轴承盖10410，传动左右移动丝杆10420上安装工作区轴承二10370，并由轴承支架二10400支撑固定，工作区轴承二10370外设有圆形轴承盖10380，传动左右移动丝杆10420通过螺杆支 架10430固定在工作区拖板10440上。
如图7、8所示，探头摆动机构10080包括传动蜗杆丝杆10560、与传动蜗杆丝杆10560连接的传动蜗杆10570、与传动蜗杆10570齿合的传动涡轮10580、与传动涡轮10580连接的旋转套10590，旋转套10590固连旋转架10600，旋转架10600与第一旋转侧板10610之间产生旋转运动，和第二旋转侧板10620可产生旋转运动，传动蜗杆丝杆10560一端安装在蜗杆支架10630上，另一端与改变动力方向的第二传动单元连接，第二传动单元通过驱动区联轴器210460及传动前后旋转轴10470与探头旋转机构电机变速组10110连接，传动蜗杆10570设于蜗杆支架10630内，工作区拖板10440上设有限制旋转套10590前后移动的管套限位块10640。第二传动单元包括工作区轴承三10480、工作区轴承四10490、轴承支架三10500、轴承支架四10510、圆形轴承盖二10520、方形轴承盖二10530、锥齿轮三10540和锥齿轮四10550，传动前后旋转轴10470通过工作区轴承三10480与轴承支架三10500耦合，且与锥齿轮三10540固连，圆形轴承盖二10520卡在工作区轴承三10480上且固定在轴承支架三10500上，锥齿轮三10540与锥齿轮四10550啮合，锥齿轮四10550与传动蜗杆丝杆10560固连，传动蜗杆丝杆10560通过工作区轴承四10490与轴承支架四10510耦合，方形轴承盖二10530卡在工作区轴承四10490上且固定在轴承支架四10510上。
如图9、10所示，探头旋转机构10050包括探头旋转机构电机变速组10101、旋转机构螺母10660、旋转机构螺母固定架10670、旋转丝杆10680、旋转导向杆10690、旋转轴10700、旋转曲柄10701、旋转曲柄10701、旋转传动轴10702、旋转卡块10703、连杆一10720、连杆二10730，探头旋转机构电机变速组10101通过对旋转机构螺母10660进行旋转，实现旋转连丝杆10680的前后移动，旋转连丝杆10680通过旋转导向杆10690实现旋转轴10700的前后移动，旋转导向杆10690与旋转轴10700在左右方向没有运动限制。旋转轴10700通过旋转曲柄10701和旋转传动轴10702将运动传递给旋转卡块10703，旋转卡块10703通过连杆一10720、连杆二10730直接带动探头连接盘10081实现旋转运动，其中，旋转轴10700与旋转曲柄10701为转动耦合，旋转曲柄10701与旋转传动轴10702固连，旋转传动轴10702与旋转卡块10703固连。
如图11、12所示，探头上下移动机构10061包括探头上下移动机构电机变速组10110、上下移动机构螺母10802、上下移动机构螺母支架10801、上下移动机 构丝杆10803、上下移动机构导向杆10804、上下移动机构传动轴10805、上下移动机构导通块10806、上下移动机构曲柄10807、上下移动机构连接块10808、上下移动机构探头支撑架10809、探头连接盘10081，上下移动机构电机变速组10110通过上下移动机构螺母10802，将旋转运动转换为上下移动机构丝杆10803的直线运动，上下移动机构丝杆10803通过上下移动机构导向杆10804将运动传递给上下移动机构传动轴10805，进而带动上下移动机构导通块10806运动，上下移动机构导通块10806通过上下移动机构曲柄10807直接带动上下移动机构连接块10808运动，上下移动机构连接块10808与上下移动机构探头支撑架10809固连，而上下移动机构探头支撑架10809与探头连接盘10081固连，进而带动探头的上下方向旋转，实现探头在上下方向的运动。其中，上下移动机构丝杆10803与上下移动机构导向杆10804之间在左右方向没有自由度限制。
上述的对实施例的描述是为便于该技术领域的普通技术人员能理解和使用发明。熟悉本领域技术的人员显然可以容易地对这些实施例做出各种修改，并把在此说明的一般原理应用到其他实施例中而不必经过创造性的劳动。因此，本发明不限于上述实施例，本领域技术人员根据本发明的揭示，不脱离本发明范畴所做出的改进和修改都应该在本发明的保护范围之内。

Claims (10)

  1. 一种用于磁共振引导的五自由度治疗焦点定位装置，其特征在于，包括驱动床体(10020)、工作床体(10030)和辅助床体(10031)；
    所述工作床体(10030)内设有探头连接盘(10081)以及用于控制探头连接盘(10081)进行多自由度运动的探头运动控制组件，所述探头连接盘(10081)安装超声探头；
    所述探头运动控制组件包括探头前后移动机构(10070)、探头左右移动机构(10060)、探头旋转机构(10050)、探头上下移动机构(10061)和探头摆动机构(10080)；
    所述驱动床体(10020)内设有用于驱动所述探头运动控制组件的电机变速组(10040)，所述电机变速组(10040)为所述探头移动控制组件提供动力，并通过耦合控制所述探头连接盘(10081)运动，进而控制所述超声探头的运动。
  2. 根据权利要求1所述的一种用于磁共振引导的五自由度治疗焦点定位装置，其特征在于，所述电机变速组(10040)设有五个，包括探头前后移动机构电机变速组(10090)、探头左右移动机构电机变速组(10100)、探头旋转机构电机变速组(10101)、探头上下移动机构电机变速组(10110)和探头摆动机构电机变速组(10120)，
    所述探头前后移动机构电机变速组(10090)固连在所述驱动床体(10020)上，所述探头左右移动机构电机变速组(10100)通过第一三角支架(10140)固连在驱动区拖板(10150)上，所述探头旋转机构电机变速组(10101)通过第二三角支架(10180)固定在所述驱动区拖板(10150)上，所述探头上下移动机构电机变速组(10110)通过第三三角支架(10170)固连在驱动区拖板(10150)上，所述探头摆动机构电机变速组(10120)通过第四三角支架(10171)固连在驱动区拖板(10150)上，所述驱动区拖板(10150)通过驱动区导轨(10160)耦合在所述驱动床体(10020)上。
  3. 根据权利要求2所述的一种用于磁共振引导的五自由度治疗焦点定位装置，其特征在于，每一个电机变速组均包括电机架(10240)、安装在电机架(10240)内的大齿轮(10210)和小齿轮(10200)，所述小齿轮(10200)与大齿轮(10210)啮合，所述小齿轮(10200)上固连超声电机(10190)，所述大齿轮(10210)与电机输出轴(10220)固连，所述电机输出轴(10220)通过电机组轴承(10230)耦合在电机架(10240)上。
  4. 根据权利要求2所述的一种用于磁共振引导的五自由度治疗焦点定位装置， 其特征在于，所述探头前后移动机构(10070)包括通过滑轨镶嵌在燕尾槽形导轨(10310)上，所述燕尾槽形导轨(10310)通过导轨固定支架(10311)耦合在工作床体(10030)上，所述工作区左右移动拖板(10300)通过前后连接组件与所述探头前后移动机构电机变速组(10090)连接并进行前后移动。
  5. 根据权利要求4所述的一种用于磁共振引导的五自由度治疗焦点定位装置，其特征在于，所述前后连接组件包括前后推动杆(10280)和前后移动丝杆(10251)，所述左右推动杆(10280)一端通过前后移动支撑(10290)与工作区左右移动拖板(10300)连接，另一端通过调节块(10270)与所述驱动区拖板(10150)固连，所述前后移动丝杆(10251)一端通过联轴器(10250)与探头前后移动机构电机变速组(10090)连接，另一端与固连在驱动区拖板(10150)上的前后移动丝杆螺母(10260)耦合在一起。
  6. 根据权利要求2所述的一种用于磁共振引导的五自由度治疗焦点定位装置，其特征在于，所述探头左右移动机构(10060)包括通过左右移动滑轨(10450)耦合在工作区左右移动拖板(10300)上的工作区拖板(10440)，所述工作区拖板(10440)通过传动左右移动丝杆(10420)与改变动力方向的第一传动单元连接，所述第一传动单元通过传动前后移动杆(10330)及联轴器(10320)与探头左右移动机构电机变速组(10100)连接并进行左右移动。
  7. 根据权利要求6所述的一种用于磁共振引导的五自由度治疗焦点定位装置，其特征在于，所述第一传动单元包括两个相齿合的锥齿轮一(10350)和锥齿轮二(10360)，所述锥齿轮一(10350)固接在传动前后移动杆(10330)一端，所述锥齿轮二(10360)固接在传动左右移动丝杆(10420)一端，所述传动前后移动杆(10330)上安装工作区轴承一(10340)，并由轴承支架一(10390)支撑固定，工作区轴承一(10340)外设有方形轴承盖(10410)，所述传动左右移动丝杆(10420)上安装工作区轴承二(10370)，并由轴承支架二(10400)支撑固定，工作区轴承二(10370)外设有圆形轴承盖(10380)，所述传动左右移动丝杆(10420)通过螺杆支架(10430)固定在工作区拖板(10440)上。
  8. 根据权利要求2所述的一种用于磁共振引导的五自由度治疗焦点定位装置，其特征在于，所述探头摆动机构(10080)包括传动蜗杆丝杆(10560)、与传动蜗杆丝杆(10560)连接的传动蜗杆(10570)、与传动蜗杆(10570)齿合的传动涡轮(10580)、与传动涡轮(10580)连接的旋转套(10590)，所述旋转套(10590)固 连旋转架(10600)，所述旋转架(10600)与第一旋转侧板(10610)之间产生旋转运动，和第二旋转侧板(10620)可产生旋转运动，所述传动蜗杆丝杆(10560)一端安装在蜗杆支架(10630)上，另一端与改变动力方向的第二传动单元连接，所述第二传动单元通过驱动区联轴器2(10460)及传动前后旋转轴(10470)与探头旋转机构电机变速组(10110)连接，所述传动蜗杆(10570)设于蜗杆支架(10630)内，所述工作区拖板(10440)上设有限制旋转套(10590)前后移动的管套限位块(10640)。
  9. 根据权利要求8所述的一种用于磁共振引导的五自由度治疗焦点定位装置，其特征在于，所述第二传动单元包括工作区轴承三(10480)、工作区轴承四(10490)、轴承支架三(10500)、轴承支架四(10510)、圆形轴承盖二(10520)、方形轴承盖二(10530)、锥齿轮三(10540)和锥齿轮四(10550)，所述传动前后旋转轴(10470)通过工作区轴承三(10480)与轴承支架三(10500)耦合，且与锥齿轮三(10540)固连，所述圆形轴承盖二(10520)卡在工作区轴承三(10480)上且固定在轴承支架三(10500)上，所述锥齿轮三(10540)与锥齿轮四(10550)啮合，所述锥齿轮四(10550)与所述传动蜗杆丝杆(10560)固连，所述传动蜗杆丝杆(10560)通过工作区轴承四(10490)与轴承支架四(10510)耦合，方形轴承盖二(10530)卡在所述工作区轴承四(10490)上且固定在轴承支架四(10510)上。
  10. 根据权利要求4所述的一种用于磁共振引导的五自由度治疗焦点定位装置，其特征在于，所述探头旋转机构(10050)包括探头旋转机构电机变速组(10101)、旋转机构螺母(10660)、旋转机构螺母固定架(10670)、旋转丝杆(10680)、旋转导向杆(10690)、旋转轴(10700)、旋转曲柄(10701)、旋转曲柄(10701)、旋转传动轴(10702)、旋转卡块(10703)、连杆一(10720)、连杆二(10730)，所述探头旋转机构电机变速组(10101)通过对旋转机构螺母(10660)进行旋转，实现旋转连丝杆(10680)的前后移动，所述旋转连丝杆(10680)通过旋转导向杆(10690)实现旋转轴(10700)的前后移动，所述旋转导向杆(10690)所述与旋转轴(10700)在左右方向没有运动限制。所述旋转轴(10700)通过旋转曲柄(10701)和旋转传动轴(10702)将运动传递给旋转卡块(10703)，所述旋转卡块(10703)通过连杆一(10720)、连杆二(10730)直接带动探头连接盘(10081)实现旋转运动，其中，所述旋转轴(10700)与旋转曲柄(10701)为转动耦合，所述旋转曲柄(10701)与旋转传动轴(10702)固连，所述旋转传动轴(10702)与所述旋转 卡块(10703)固连。
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