WO2022143996A1 - 磁共振引导激光消融治疗系统 - Google Patents
磁共振引导激光消融治疗系统 Download PDFInfo
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- WO2022143996A1 WO2022143996A1 PCT/CN2021/143786 CN2021143786W WO2022143996A1 WO 2022143996 A1 WO2022143996 A1 WO 2022143996A1 CN 2021143786 W CN2021143786 W CN 2021143786W WO 2022143996 A1 WO2022143996 A1 WO 2022143996A1
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Definitions
- the present invention claims the priority of the application number 202011640255.6, the application date is 2020.12.31, and the name of the invention is "magnetic resonance guided laser ablation therapy system", the entire contents of which are incorporated herein by reference.
- the invention relates to the technical field of medical equipment, in particular to a magnetic resonance guided laser ablation treatment system.
- the present invention proposes a magnetic resonance guided laser ablation treatment system.
- the purpose of the present invention is to provide a magnetic resonance guided laser ablation treatment system, which can effectively ablate both regular and irregular tissues.
- an embodiment of the present invention provides a first magnetic resonance guided laser ablation therapy system, including:
- Laser ablation equipment which contains a laser generator and cooling means
- a stereotaxic system that houses and controls the position and angle of rotation of the ablation fiber
- a workstation which is configured to: control the movement of the stereotaxic device, and use magnetic resonance temperature imaging technology to generate and display the ablation information of the target site during the operation of the magnetic resonance guided laser ablation treatment system.
- the ablation fiber can emit light laterally.
- Stereotactic system including:
- the proximal end of the sleeve is connected to the plug, and the distal end of the sleeve can extend from the distal end of the guiding device;
- the ablation optical fiber is arranged in the sleeve, and the rotation driving device drives the ablation optical fiber to rotate.
- the rotation driving device includes a first driver
- the first driver is connected to the ablation fiber, and the first driver drives the ablation fiber to rotate around its own axis.
- the above-mentioned stereotaxic system further includes a controller, and the first driver is connected in communication with the controller;
- the controller sends a motion control command to the first driver
- the first driver drives the ablation fiber to rotate about its own axis according to the motion control command.
- the rotation driving device further includes a first angle sensor, and the first angle sensor is connected in communication with the controller;
- the first angle sensor detects the rotation angle of the ablation fiber or the rotation angle of other components that are the same as the rotation angle of the ablation fiber, and sends the detected rotation angle to the controller.
- the above-mentioned stereotaxic system further includes a front and rear translation drive device
- the rotary drive device is slidably connected to the front and rear translation drive device.
- the front and rear translation drive device is connected in communication with the controller
- the controller sends a front-to-back translation command to the front-to-back translation drive device
- the front-to-back translation drive device drives the rotation drive device to translate back and forth according to the front-to-back translation command, and then drives the ablation fiber to translate back and forth.
- the rotary drive device further includes a rotary device base;
- the first driver is mounted on the rotating device base.
- the rotation driving device further includes an ablation fiber adapter
- the first driver drives the ablation fiber adapter to rotate, and the distal end of the ablation fiber adapter is connected to the ablation fiber.
- the guiding device includes a hollow elongated structural guide member and a clamping assembly, the distal end of the clamping assembly is connected with the proximal end of the hollow elongated structural guide member, and the clamping assembly is used for After the sleeve protrudes from the distal end of the hollow and elongated structure guide, the relative positions of the sleeve and the hollow and elongated structure guide are fixed.
- the clamping assembly includes an elastic plug, a clamping adapter, a jack screw and a screw;
- the screw connection is screwed with the ejector, the distal end of the ejector is inserted into the clamping adapter and contacts with the elastic plug, and the distal end of the screw can be connected to the
- the proximal end of the clamping adapter is threadedly connected, the distal end of the clamping adapter is connected with the proximal end of the hollow elongated structure guide, and the elastic plug is arranged on the hollow elongated structure guide inside the proximal cavity;
- the tightening member is screwed to the ejector screw member and the clamping adapter, the ejector screw member presses the elastic plug, and the sleeve passes through the ejector screw member and the clamping adapter.
- the elastic plug and the hollow elongated structural guide, the distal end of the sleeve can extend from the distal end of the hollow elongated structural guide, the elastic plug fixes the position of the sleeve.
- the connector is a hollow casing, and the proximal end of the sleeve is connected to the hollow casing.
- the connector includes a sealing plug, an ablation fiber connector, and a sealing nut, a Luer connector, a water inlet adapter, and a water outlet adapter sequentially connected in the direction from the proximal end to the distal end;
- the ablation optical fiber connector is connected with the transmission part of the rotary drive device, the sealing plug is arranged in the luer connector, and the inner boss of the sealing nut is in contact with the sealing plug;
- the sealing nut In the use state, the sealing nut is tightened on the Luer connector, the inner boss of the sealing nut presses the sealing plug, and the ablation fiber passes through the ablation fiber connector, the sealing nut, and the The sealing plug and the water inlet adapter enter the sleeve.
- the connector further includes a first water pipe and a second water pipe, and the sleeve includes an inner water circulation pipe and an outer water circulation pipe;
- the inner water circulation pipe is arranged in the outer water circulation pipe with a gap therebetween, the first water pipe passes through the water inlet adapter and communicates with the inner water circulation pipe, and the second water pipe passes through the
- the water outlet adapter is communicated with the outer water circulation pipe;
- the ablation optical fiber enters the inner water circulation pipe through the ablation optical fiber connector, the sealing nut and the sealing plug.
- a first strength enhancement structure is arranged between the outer water circulation pipe and the inner water circulation pipe, and a second strength enhancement structure is arranged between the inner water circulation pipe and the ablation optical fiber.
- At least a first portion of the ablation fiber is provided with a rigid structure outside, or at least a first portion of the ablation fiber has a reinforced outer surface structure, wherein the first portion includes the ablation fiber self-adjacent. Ending to a portion within the sealing plug and a portion beyond the sealing plug, when the distal end of the ablation fiber is at the most distal end of the system, the length of the portion beyond the sealing plug is greater than the ablation plug The travel distance of the fiber.
- the front and rear translation drive device includes a front and rear translation drive device base, at least one sliding rail, a lead screw, a sliding block and a second driver;
- the at least one sliding rail and the lead screw are arranged in parallel and pass through the sliding block, both ends of the at least one sliding rail are fixedly mounted on the base of the front and rear translation drive device, and the lead screw is rotatably connected to the base.
- the front and rear translation drive device base, the second driver drives the lead screw to rotate, the second driver is installed on the front and rear translation drive device base, and the rotation drive device is installed on the sliding block.
- the workstation can communicate with the laser ablation device and the stereotaxic system, adjust the parameters of the laser generator and the cooling device, control the position and rotation angle of the ablation fiber, perform ablation under the magnetic resonance detection, and feedback according to the magnetic resonance image.
- the temperature and ablation information are obtained, and feedback control is performed on the laser ablation device and the stereotaxic system.
- an embodiment of the present invention provides another magnetic resonance guided laser ablation therapy system, including:
- an optical fiber cooling assembly that houses and cools the ablation optical fiber
- Laser ablation equipment which contains a laser generator and cooling means
- a stereotaxic system that houses and controls the position and angle of rotation of the ablation fiber
- a workstation which is configured to: control the movement of the stereotaxic device, and use magnetic resonance temperature imaging technology to generate and display the ablation information of the target site during the operation of the magnetic resonance guided laser ablation treatment system.
- the workstation is connected with the image archiving and communication system of the hospital, obtains digital images before surgery, generates a surgical plan according to the digital images, sends the surgical plan to the laser ablation device, and uses it during the operation.
- the magnetic resonance temperature imaging technology fuses to generate a real-time temperature image of the lesion area, generates control information according to the real-time temperature image, and sends the control information to the laser ablation device to adjust the laser power and cooling power of the laser ablation device in real time ;
- the laser ablation equipment is connected with the workstation, and is used for generating and adjusting laser light according to the operation plan and the control information, and driving and controlling the circulation of the cooling interstitium.
- the laser ablation equipment includes a medical switch device, a laser generator, and a cooling device. , sensor module, interaction module and main control module;
- a sensor module connected with the main control module, for collecting working parameter information of the laser hyperthermia device, and sending the working parameter information to the main control module;
- an interaction module connected with the main control module, for acquiring operation instruction information, sending the operation instruction information to the main control module, and displaying the working state of the laser hyperthermia device;
- the main control module is connected to the workstation and is used to control the cooling device and the laser generator according to the operation plan, the working parameter information, the operation instruction information and the control information, wherein the control information includes the first Control information and second control information, the main control module is also used to monitor the safe operation parameters of the laser generator and the cooling device, and make the laser hyperthermia device emergency stop and/or adjust the cooling device when the safe operation parameters exceed the safety threshold;
- a laser generator connected to the main control module, for generating and adjusting the first laser for ablation and the second laser for auxiliary positioning according to the first control information
- a cooling device connected with the main control module, is used for driving and controlling the circulation of the cooling medium according to the second control information.
- the medical switching device is connected with the main control module and is used for converting the AC power supply into the DC power supply.
- the cooling device includes a peristaltic pump, a cooling medium and a cooling medium conveying pipe, and can also include an incubator.
- the ablation optical fiber includes an ablation probe capable of directing light
- the optical fiber cooling assembly includes a cooling liquid delivery tube, a cooling sleeve, a water circulation adapter assembly, and a sealing plug.
- Stereotactic systems include:
- a guide comprising a cooling jacket guide and a guide housing
- the sensor assemblies including angle sensors
- the rotary drive device drives the ablation fiber to rotate
- a controller which is connected in communication with the sensor assembly and the rotary drive device, receives the angle information of the sensor assembly, and controls the movement of the rotary drive device, and the controller can also receive control information input;
- the distal end of the ablation fiber passes through the fiber cooling assembly, the angle sensor is fixedly connected to a device or structure that does not rotate with the ablation fiber, and the stereotaxic system can make the ablation fiber at different sensors
- the rotation angle remains the same or substantially the same.
- the sensor assembly further includes a rotation positioning device, so that the ablation fiber can move along the longitudinal axis while the rotation angle is measured, and the said ablation fiber can be moved along the longitudinal axis in the use state
- the rotation positioning device clamps the ablation optical fiber according to a preset pressure
- the ablation optical fiber drives the rotation positioning device to rotate
- the angle sensor detects the rotation angle of the rotation positioning device, and sends the rotation angle to the control device device.
- the stereotaxic system also includes a cannula that maintains a fixed length of the ablation fiber between the first set of sensor assemblies and the second set of sensor assemblies, allows the ablation fiber to rotate therein about its long axis and Move along the long axis.
- the stereotaxic system further includes a longitudinal motion device, the rotation driving device can move relative to the longitudinal motion device, and the controller sends control information to the longitudinal motion device, so that the ablation fiber moves along the long axis; further Ground, the longitudinal movement device is connected to the second sensor assembly.
- the guide device housing includes a bone screw cap, a guide device housing main body and a guide device housing back cover; the proximal end of the cooling sleeve guide and the distal end of the bone screw cap threaded connection, the proximal end of the bone nail cap is connected with the distal end of the guide device housing body, the guide device housing rear cover is covered with the proximal end of the guide device housing body, the guide device The rear cover of the casing is connected with the distal end of the sleeve, and the optical fiber cooling assembly is arranged in the main body of the casing of the guide device; in the use state, the ablation optical fiber passes through the rear cover of the casing of the guide device, The guide housing body, the nail cap, and the cooling jacket guide.
- the guide device housing body includes a guide device housing body fixing part and a guide device housing body sliding part, the proximal end of the bone nail cap is connected with the distal end of the guide device housing body fixing part, the The proximal end of the fixing part of the main body of the guiding device is connected with the distal end of the sliding part of the main body of the guiding device, and the rear cover of the guiding device is covered with the proximal end of the sliding part of the main body of the guiding device.
- the stereotaxic system of the magnetic resonance guided laser ablation treatment system includes: a guide device, a cannula, an insert, a rotation drive device and a longitudinal movement drive device;
- the guide includes a cooling jacket guide and a guide housing that includes a nail cap, a guide housing body, and a guide housing back cover, the guide housing body including a guide
- the fixing part of the housing body and the sliding part of the housing body of the guide device, the proximal end of the bone nail cap is connected with the distal end of the fixing part of the housing body of the guide device, and the proximal end of the fixing part of the housing body of the guide device is connected to the distal end of the fixing part of the housing body of the guide device.
- the distal end of the sliding part of the main body of the guiding device is connected, the rear cover of the guiding device is covered with the proximal end of the sliding part of the main body of the guiding device, the fixing part of the main body of the guiding device and/or the
- the sliding part of the main body of the guide device housing is provided with a scale, the fixed part of the main body of the guiding device and the sliding part of the main body of the guiding device can move relative to each other, and the scale shows the distance of the relative movement.
- a first group of sensor assemblies is provided, and the angle sensors of the first group of sensor assemblies are connected to the housing main body of the guide device;
- a second group of sensor assemblies is arranged in the plug-in, the angle sensor of the second group of sensor assemblies is connected with the casing of the plug-in, and the plug-in is connected with the longitudinal movement driving device, so that the plug-in and the longitudinal The relative position of the mobile drive device remains unchanged;
- the proximal end of the sleeve is connected to the rear cover of the guide device, and the distal end of the sleeve is connected to the insert, so that the length of the ablation optical fiber between the rear cover of the guide and the insert remains unchanged;
- the rotary drive device is slidably connected to the longitudinal movement drive device
- the optical fiber cooling assembly is arranged in the housing main body of the guide device.
- the host or the controller may be loaded with a program of the method for accurately adjusting the rotation angle of the ablation fiber;
- One method of precisely adjusting the rotation angle of the ablation fiber includes the following steps:
- the controller rotates the ablation fiber in one direction by rotating the drive device, and when the rotation of the ablation fiber measured by the first group of sensor assemblies reaches a preset angle, the controller receives and records the second group of sensor assemblies at this time.
- the ablation optical fiber rotates, and at the same time, the rotation driving device is controlled to stop rotating and rotate in a reverse direction, so that the ablation optical fiber near the second group of sensor assemblies rotates reversely by an angle, the angle being the difference between the second angle and the first angle the absolute value of .
- the second method of precisely adjusting the rotation angle of the ablation fiber includes the following steps:
- the controller rotates the ablation optical fiber in one direction by rotating the driving device, and the first group of sensor assemblies measures the rotation angle of the ablation fiber when the ablation optical fiber starts to rotate, and records the rotation angle measured by the second group of sensor assemblies at this time as the basic rotation
- the rotation driving device is controlled to stop rotating and rotate in the reverse direction, so that the ablation fiber near the second group of sensor assemblies rotates the ablation fiber in the reverse direction.
- the base rotation angle is controlled to stop rotating and rotate in the reverse direction, so that the ablation fiber near the second group of sensor assemblies rotates the ablation fiber in the reverse direction.
- ablation can be divided into multiple steps, that is, it may be necessary to rotate multiple times, stay at different positions for different times, monitor the progress of ablation by magnetic resonance temperature imaging, and then continue to rotate.
- the above methods can be performed continuously or intermittently. Second-rate.
- the magnetic resonance guided laser ablation treatment system of the present invention uses magnetic resonance temperature imaging technology to fuse and generate a real-time temperature image of the lesion area during the operation, and controls the laser power and cooling power in real time through the temperature values of the lesion and surrounding healthy tissues, thereby realizing the regulation of Effective ablation of irregular lesions and intraoperative ablation prediction, real-time adjustment of the ablation boundary, to achieve the purpose of conformal ablation.
- the magnetic resonance guided laser ablation therapy system of the present invention can generate a surgical plan, wherein the surgical plan includes information corresponding to the laser, and the information includes but is not limited to: planned ablation volume, laser power, light output time, light output mode, cooling liquid Flow rate, fiber optic catheter insertion path planning;
- Real-time control calculating the temperature based on the magnetic resonance image, correcting the temperature image by using the temperature measuring structure, regulating the ablation optical fiber assembly in working state, and the working parameters of the treatment light source module and the cooling device in real time, and performing ablation monitoring in real time;
- the content of the comparison includes the following: planned ablation area or volume, and actual ablation area or volume after operation; the ablation result information at least includes but is not limited to: ablation area percentage, ablation volume percentage, and comparison charts before and after ablation.
- the rotation of the ablation fiber is driven by the rotary drive device to control the rotation of the ablation fiber.
- the guiding device can guide the direction of the ablation fiber implantation, and the ablation fiber can be directionally controlled without installing an additional support structure at the skull, reducing the number of patients. Painful and easy to install.
- the rotation angle of the drive shaft or the rotation angle of the ablation fiber can be detected and fed back to the controller; when the rotation driving device includes the first angle sensor, it can be detected that it has a rigid structure or has a passing
- the rotation angle of the ablation fiber of the strengthened outer surface structure is sent to the controller, so as to realize the rotation control of the ablation fiber.
- the controller can control the front and rear translation drive device to drive the rotation drive device to translate back and forth, so that the ablation fiber moves with the movement of the rotation drive device, thereby realizing the control of the front and rear translation of the ablation fiber.
- the relative position of the sleeve and the hollow elongated structure guide can be fixed; the distal end of the ejector wire is inserted into the clamping adapter and connected to the elastic The way the plug contacts, so that when the screw is tightened on the ejector screw and the clamping adapter, the ejector screw can press the elastic plug so that the elastic plug squeezes the inner sleeve, so as to achieve the purpose of fixing the sleeve.
- the cooling and sealing of the ablation optical fiber is realized by setting the sealing plug and setting the connector to include the first water pipe and the second water pipe, and setting the sleeve to include the inner water circulation pipe and the outer water circulation pipe.
- the strength of the ablation fiber is enhanced by arranging at least a first portion of the ablation fiber to have a rigid structure or a reinforced outer surface structure, and by arranging the first portion includes the ablation fiber from the proximal end to the end of the ablation fiber located in the sealing plug. Part and the part beyond the sealing plug, when the distal end of the ablation fiber is located at the most distal end of the system, the length of the part beyond the sealing plug is greater than the moving distance of the ablation fiber, so as to ensure that even after the ablation fiber is moved, it is located in the sealing plug
- the ablation fiber still has a rigid structure or has a reinforced outer surface structure, which eliminates the effect of friction between the sealing plug and the ablation fiber on the rotation of the ablation fiber.
- the strength and puncturing ability of the sleeve are increased to prevent deformation when squeezed by external force, and block the circulation of cooling fluid.
- the guide device has a simple structure, light weight and high reliability. Only the cooling sleeve guide (such as a hollow bone nail) can bear the weight of the guide device, and there is no need to install other auxiliary structures, which reduces the number of bone nails installed. , alleviate the pain of the patient and increase the compliance;
- the occupied area of the head mounting structure is too large, which hinders or severely limits the implantation distance of different optical fibers, restricts the planning of the implantation site, and cannot carry out the solution that the distance between the implantation sites is too small.
- Other structures of auxiliary guides are avoided, and the distance between the cooling sleeve guides can be very close, providing more options for the situation that requires dense implantation of ablation fibers for large-scale tissue ablation
- the cooling sleeve does not move relative to the brain tissue after implantation, only the ablation fiber in it rotates, and the brain tissue will not be damaged by adjusting the rotation of the ablation fiber;
- the sealing plug at the end will cause the ablation fiber to continue to rotate after rotating to a predetermined angle, resulting in an orientation error, which seriously affects the expectation and planning of the operation, and cannot achieve accurate ablation .
- FIG. 1 is a schematic diagram of a magnetic resonance guided laser ablation treatment system provided by an embodiment of the present invention
- FIG. 2 is a schematic diagram of an assembly structure of a first stereotaxic system provided by an embodiment of the present invention
- FIG. 3 is a schematic diagram of an explosion structure of a first stereotaxic system provided by an embodiment of the present invention.
- FIG. 4 is a schematic structural diagram of a rotary drive device
- Fig. 5 is the sectional view of the partial structure of Fig. 4;
- FIG. 6 is a cross-sectional view of an assembly structure of a guide device provided in an embodiment of the present invention.
- FIG. 7 is a cross-sectional view of an explosive structure of a guiding device provided by an embodiment of the present invention.
- FIG. 8 is a schematic diagram of an assembly structure of a plug connector provided by an embodiment of the present invention.
- FIG. 9 is a schematic diagram of an exploded structure of a plug connector provided by an embodiment of the present invention.
- FIG. 10 is a schematic structural diagram of a sleeve provided by an embodiment of the present invention.
- FIG. 11 is a schematic structural diagram of a front and rear translation drive device provided by an embodiment of the present invention.
- FIG. 12 is a schematic structural diagram of a second stereotaxic system according to an embodiment of the present invention.
- FIG. 13 is a schematic structural diagram of a guide device provided by an embodiment of the present invention.
- Fig. 16 is the sectional view of Fig. 13;
- Fig. 17 is a kind of structural representation of plug-in
- Fig. 18 is another structural schematic diagram of the plug-in.
- the proximal end refers to the end of the structure away from the ablation site along the axial direction of the ablation fiber; on the contrary, the proximal end refers to the end of the structure away from the target site along the axial direction of the ablation fiber.
- the magnetic resonance guided laser ablation treatment system of the present invention includes a workstation 100, a laser ablation device 200, a stereotaxic system 300 and a fiber cooling assembly 400 (or ablation fiber 400), and the positional relationship is not a real physical structure
- the laser ablation device 200 is connected to the workstation 100 in communication, and it can be located in it, or it can exist independently; the laser ablation device 200 and the stereotaxic system 300 are connected to the workstation 100 in communication, and are not necessarily directly connected in structure. no limit.
- the workstation 100 is configured to receive medical image information (such as CT, MRI, etc.), establish a three-dimensional model according to one or more kinds of medical image information, and extract image point clouds based on the three-dimensional model. Control is performed, the progress of ablation is calculated and displayed, and it contains an ablation estimation module loaded with a program capable of performing the ablation estimation method.
- medical image information such as CT, MRI, etc.
- the workstation can generate a surgical plan, wherein the surgical plan includes information corresponding to the laser, the information including but not limited to: planned ablation volume, laser power, light output time, light output mode, cooling fluid flow rate, and fiber optic catheter insertion path planning;
- Real-time control calculating the temperature based on the magnetic resonance image, correcting the temperature image by using the temperature measuring structure, regulating the ablation optical fiber assembly in a working state, and the working parameters of the treatment light source module and the cooling device in real time, and performing ablation monitoring in real time;
- the content of the comparison includes the following: planned ablation area or volume, and actual ablation area or volume after operation; the ablation result information at least includes but is not limited to: ablation area percentage, ablation volume percentage, and comparison charts before and after ablation.
- the laser ablation device 200 is connected in communication with the workstation 100, and the actual spatial position is not required. It can be integrated with the workstation or can be separated from the workstation. It includes a laser generator and a cooling device, and can independently or receive information from the workstation to update the laser generator and cooling device. The device is controlled to adjust the working power of the laser generator and the cooling interstitial flow rate of the cooling device.
- the laser ablation device 200 further includes a sensor module, an interaction module and a main control module, and the sensor module is used for receiving information from the end of the optical fiber, For example, the temperature sensor set at the end of the optical fiber and the temperature sensor set in the cooling jacket to monitor the laser output power and cooling; the interactive module is used to communicate with the workstation, and the main control module sends commands to the laser generator and cooling device.
- the six parts included in the laser ablation device 200 are as follows:
- a laser generator for generating laser light for ablation and laser light for auxiliary positioning can be gas, solid, semiconductor or fiber laser generators.
- the type of laser can be infrared, ultraviolet or visible light.
- the main application band of ablation is around 980nm and 1064nm, the power is adjustable, the maximum is not more than 30W, continuous laser, and can be modulated into pulsed laser, the pulse width can be 10ms ⁇ 100000ms, and the pulse frequency can be 0.01Hz ⁇ 100Hz.
- the laser band used for auxiliary positioning is mainly around 640nm, the power is not more than 2W, continuous laser.
- the cooling device is used to drive and control the circulation of the cooling interstitium, so as to realize the cooling of the laser ablation probe and the cooling of the surrounding tissue of the probe.
- the cooling device is mainly composed of a constant temperature box, a peristaltic pump, a cooling medium and a cooling medium conveying pipe.
- the pipe wall pressure sensor is installed in the loop part of the inlet and outlet of the cooling pipe; there is a temperature sensor in the part where the cooling pipe is connected with the inlet and outlet of the constant temperature box.
- the incubator is used to keep the temperature of the cooling interstitial in the cooling pipe at the set temperature.
- the peristaltic pump is used to provide the circulating power for cooling the interstitial, and it can provide the interstitial circulation speed of 0-60ml/min.
- the cooling medium can be normal saline, or other light-transmitting liquid.
- the cooling pipe can be made of medical rubber materials such as polycarbonate, polyurethane, polyethylene, polypropylene, silicone, nylon, PVC, PET, PTFE, ABS, PES, PEEK, FEP, and the like.
- Sensor module used to collect necessary working parameter information in the device. Collect the pipe wall pressure of the cooling pipe inlet and outlet loop parts to determine whether there is leakage in the cooling loop; collect the temperature of the cooling interstitial in the cooling pipe at the inlet and outlet of the incubator to determine whether the temperature setting of the incubator is reasonable; collect the laser generator The temperature near the laser chip determines the working state of the laser generator. Temperature measurement can use thermocouples, Pt resistors, etc.; pressure measurement uses ceramic or thin-film pressure sensors.
- the data collected by the sensor module is transmitted to the main control module through the data interface.
- the interaction module is the input and output module of the laser ablation device, which is composed of buttons and a display screen, and is electrically connected to the main control module to obtain the operation instruction information on the user side, and send the operation instruction information to the main control module. . It is used to display the working status of the output laser ablation equipment, peristaltic pump speed, laser power, pulse frequency and sensor parameters, etc. At the same time, parameter setting commands and switch status commands can be input.
- the main control module is the data collection, delivery, storage and calculation module of the laser ablation equipment, and is electrically connected with the interaction module, the sensor module, the cooling device, the laser generator and the medical switch device. Complete the storage, display and transmission of various data during surgery. Control the laser generator and cooling device to operate according to the input parameters, and transmit the laser, cooling device operating status and sensor parameters to the workstation and interactive module. At the same time, the main control module can set and monitor the safe operating parameters of the laser and cooling device. When the operating parameters of the equipment exceed the set safety threshold, the main control module will quickly control the equipment to emergency stop.
- the first magnetic resonance guided laser ablation treatment system of the present invention includes: a workstation 100 , a laser ablation device 200 , a stereotaxic assembly 300 and an ablation optical fiber 400 .
- a cooling assembly is included in the orientation assembly 300 , and a cooling device is provided in the laser ablation apparatus 200 .
- FIG. 2 is a schematic diagram of an assembly structure of a first stereotaxic system provided by an embodiment of the present invention.
- FIG. 3 is a schematic diagram of an explosion structure of a first stereotaxic system provided by an embodiment of the present invention.
- the first stereotaxic system provided by the embodiment of the present invention includes: a guiding device 1 , a sleeve 2 , a plug-in part 3 and a rotary driving device 4 .
- the proximal end of the cannula 2 is connected to the plug 3, and the distal end of the cannula 2 can extend from the distal end of the guide device 1, wherein the distal end of the cannula 2 can be a blind end.
- the ablation optical fiber 5 is arranged in the cannula 2, and the rotation driving device 4 drives the ablation optical fiber 5 to rotate.
- the plug 3 can be fixed to any structure, as long as the proximal end of the plug 3 is opposite to the distal end of the rotary drive device 4 after fixing, so that the rotary drive device 4 can drive the ablation fiber 5 to rotate, and the ablation fiber 5 can be inserted
- the connector 3 can rotate around its own axis and/or move along its own axial direction.
- the plug 3 is fixed on a special bracket or the plug 3 can be connected with the rotary drive device 4 , or the plug 3 can be connected with the front and rear translation drive device 6 through the connecting member 7 .
- the stereotaxic system provided by the embodiment of the present invention includes a guiding device 1, a sleeve 2, a plug 3 and a rotary drive device 4.
- the proximal end of the sleeve 2 is connected to the plug 3, and the The distal end can be protruded from the distal end of the guiding device 1.
- the ablation optical fiber 5 is arranged in the cannula 2, and the rotation driving device 4 drives the ablation optical fiber 5 to rotate.
- the rotation driving device drives the ablation optical fiber to rotate to realize the rotation control of the ablation optical fiber
- the direction of implantation of the ablation optical fiber can be guided by the guiding device
- the orientation of the ablation optical fiber can be realized without installing an additional support structure at the skull. Control, reduce patient pain, easy installation.
- FIG. 4 is a schematic structural diagram of the rotation driving device 4 .
- the rotation driving device 4 includes a first driver 41 , which is connected to the ablation fiber 5 , and drives the ablation fiber 5 to rotate around its axis.
- first driver 41 There are various structural forms of the first driver 41, including but not limited to electric motors, hydraulic forms, and pneumatic forms, which are not limited in this embodiment of the present invention.
- the rotation driving device 4 may further include a first transmission mechanism, the first driver 41 is connected to the first transmission mechanism, and the first transmission mechanism is connected to the ablation optical fiber 5 . connected, so that the first driver 41 drives the ablation optical fiber 5 to rotate around its own axis through the connection of the first transmission mechanism.
- first transmission mechanism including but not limited to a gear form and a belt form.
- the ablation fiber 5 is driven to rotate around its own axis by the first driver 41 .
- the rotary driving device 4 may further include a rotary device base 42 , and the first driver 41 is mounted on the rotary device base 42 .
- FIG. 5 is a cross-sectional view of the partial structure of FIG. 4. Referring to FIG. 41 drives the ablation fiber adapter 43 to rotate, and the distal end of the ablation fiber adapter 43 is connected to the ablation fiber 5 .
- the ablation fiber adapter 43 Since the distal end of the ablation fiber adapter 43 is connected to the ablation fiber 5 , when the first driver 41 drives the ablation fiber adapter 43 to rotate, the ablation fiber adapter 43 drives the ablation fiber 5 to rotate accordingly.
- the stereotaxic system provided by the embodiment of the present invention further includes a controller, and the first driver 41 is connected in communication with the controller.
- the controller sends a motion control command to the first driver 41, and the first driver 41 drives the ablation fiber 5 to rotate around its own axis according to the motion control command. That is, the rotation of the ablation fiber 5 about its own axis is controlled by the controller.
- the controller can be an autonomous controller or a signal receiving end.
- the motion control command is determined by the stereotaxic transmission system itself; when the controller is a signal receiving end, the controller can receive stereoscopic Directs control signals external to the drivetrain, such as a workstation, to determine motion control commands based on the received control signals.
- the first driver 41 can directly drive the ablation optical fiber 5 to rotate around its own axis.
- the motion control command may include the number of target rotations, the end angle position or relative rotation angle of each rotation, and the dwell time after each rotation, etc.
- the first driver 41 drives the ablation fiber 5 to rotate around its own axis according to the motion control command. :
- the first driver 41 drives the ablation optical fiber 5 to rotate around its own axis for a target number of rotations, and stays for a dwell time after the rotation when reaching the end angular position or relative rotation angle of each rotation.
- the angular position of the end point of each rotation is determined based on the initial angular position, and the initial angular position may be calibrated.
- the initial angle position is the position corresponding to 0°
- the end angle position of the first rotation is the position corresponding to 30°
- the end angle position of the second rotation is the position corresponding to 60°.
- the dwell time after each rotation is 5s; then the first driver 41 drives the ablation fiber 5 to rotate around its own axis to a position corresponding to the end angle position of 30° and stays for 5s, and then drives the ablation fiber 5 to rotate around its own axis to the end angle position It is the position corresponding to 60° and stays for 5s.
- the angle and the stop position of the multiple rotations can be the same or different, and the combination of the angle and the stop time can be various, which are all included in the scope of the present invention.
- the controller can control the first driver to drive the ablation fiber 5 to rotate.
- the rotation driving device 4 further includes a first angle sensor , the first angle sensor is connected in communication with the controller.
- the first driver 41 is an ultrasonic motor.
- the first angle sensor is connected to the drive shaft of the first driver 41 or the ablation fiber 5;
- the first angle sensor detects the rotation angle of the ablation fiber 5 or the rotation angle of other components that are the same as the rotation angle of the ablation fiber 5, and sends the detected rotation angle to the controller.
- the rotation angle of the ablation fiber 5 or the rotation angle of the ablation fiber 5 needs to be determined by the first angle sensor. and send the detected rotation angle to the controller, and the controller receives the detected rotation angle so as to know the rotation angle of the ablation fiber 5 .
- Other components may be the drive shaft of the first driver 41 .
- the other components may be the ablation fiber adapter 43 .
- the rotation angle of the drive shaft or the rotation angle of the ablation fiber 5 can be detected and fed back to the controller.
- the stereotaxic system provided by the embodiment of the present invention includes a controller
- the stereotaxic system provided by the embodiment of the present invention further includes a front-rear translation drive device 6
- the rotation drive device 4 is slidably connected to the front and rear.
- Translation drive 6 There are various ways in which the rotary drive device 4 is slidably connected to the front and rear translation drive device 6 , which is not limited in the embodiment of the present invention.
- the front and rear translation driving device 6 can drive the rotary driving device 4 to translate back and forth, so that the ablation fiber 5 moves with the movement of the rotary driving device 4 .
- the plug connector 3 can be fixed to the front and rear translation drive device 6, and the plug connector 3 and the front and rear translation drive device 6 can be fixedly connected in various ways.
- the stereotaxic system provided in the embodiment of the present invention may further include a plug-in connector 7, one end of the plug-in connector 7 is fixedly connected to the front-rear translation drive device 6, and the other end is fixedly connected to the plug-in member 3, whereby the plug-in member 3 passes through
- the plug connector 7 realizes a fixed connection with the front and rear translation drive device 6 .
- the front and rear translation driving device 6 can drive the rotary driving device 4 to translate back and forth, so that the ablation fiber 5 moves with the movement of the rotary driving device 4 Therefore, the forward and backward translation control of the ablation optical fiber 5 is realized by the forward and backward translation driving device 6 .
- front and rear translation drive device 6 is connected to the controller in communication, and the method for the front and rear translation drive device 6 to realize the control of the front and rear translation of the ablation fiber 5 may be:
- the controller sends front and rear translation commands to the front and rear translation drive device 6;
- the front and rear translation drive device 6 drives the rotation drive device 4 to translate back and forth according to the front and rear translation commands, and then drives the ablation optical fiber 5 to translate back and forth.
- the front-to-back translation command may include a translation direction and a translation distance
- the front-to-back translation drive device 6 drives the rotation drive device 4 to translate back and forth according to the front-to-back translation command:
- the front and rear translation drive device 6 drives the rotation drive device 4 to move the translation distance along the translation direction.
- the translation direction includes front and rear, and the front and rear are preset, for example, the distal end is set as the front, and the proximal end is set as the rear.
- the controller can control the front and rear translation drive device 6 to drive the rotation drive device 4 to translate back and forth, so that the ablation fiber 5 moves with the movement of the rotation drive device 4, thereby realizing the ablation fiber. 5. Control the forward and backward translation.
- the structure of the guiding device 1 will be introduced as follows:
- FIG. 6 is a cross-sectional view of the assembly structure of the guide device 1 provided by the embodiment of the present invention.
- FIG. 7 is a cross-sectional view of the explosion structure of the guide device 1 provided by the embodiment of the present invention.
- the guide device 1 includes a hollow elongated structural guide member 11 and a clamping assembly 12, the distal end of the clamping assembly 12 is connected with the proximal end of the hollow elongated structural guide member 11, and the clamping assembly 12 is used for After the sleeve 2 protrudes from the distal end of the hollow elongated structure guide 11 , the relative positions of the sleeve 2 and the hollow elongated structure guide 11 are fixed.
- the hollow elongated structure guide 11 is hollow and can guide and orient the ablation optical fiber 5 .
- the clamping assembly 12 is an assembly that can play a clamping role.
- the relative positions of the sleeve 2 and the hollow elongated structure guide 11 can be fixed by means of the hollow elongated structure guide 11 and the clamping assembly 12 .
- the clamping assembly 12 may include an elastic plug 121 , a clamping adapter 122 , a jacking member 123 and a tightening member 124 .
- the tightening member 124 is threadedly connected with the ejector screw 123, the distal end of the ejector screw 123 is inserted into the clamping adapter 122 and contacts with the elastic plug 121, and the distal end of the tightening member 124 can be threaded with the clamping adapter 122
- the distal end of the clamping adapter 122 is connected with the proximal end of the hollow elongated structural guide member 11
- the elastic plug 121 is disposed in the proximal end cavity of the hollow elongated structural guide member 11 .
- the tightening member 124 and the jacking member 123 may be an integral structure, and the integral structure is threadedly connected with the clamping adapter 122 .
- the tightening member 124 is tightened on the ejector screw 123 and the clamping adapter 122 , the ejector screw 123 presses the elastic plug 121 , and the sleeve 2 passes through the ejector screw 123 .
- the elastic plug 121 and the hollow elongated structure guide member 11 the distal end of the sleeve 2 protrudes from the distal end of the hollow elongated structure guide member 11, and the elastic plug 121 is squeezed because the ejector wire member 123 presses the elastic plug 121
- the inner sleeve 2 further enables the elastic plug 121 to fix the position of the sleeve 2 .
- the elastic plug 121 may be a rubber plug.
- the ejector screw 123 can press the elastic plug 121 so that the elastic plug 121 presses the inner sleeve 2 , so as to achieve the purpose of fixing the sleeve 2 .
- FIG. 8 is a schematic diagram of the assembly structure of the plug connector 3 according to the embodiment of the present invention.
- FIG. 9 is a schematic diagram of an exploded structure of a plug connector 3 provided in an embodiment of the present invention.
- the plug connector 3 may include a sealing plug 31, an ablation fiber connector 32, and a sealing nut 33, a luer connector 34, a water inlet adapter 35, and a sealing nut 33, a luer connector 34, and an ablation fiber connector 32 connected in sequence from the proximal end to the distal end.
- Water outlet adapter 36 is a sealing plug 31, an ablation fiber connector 32, and a sealing nut 33, a luer connector 34, a water inlet adapter 35, and a sealing nut 33, a luer connector 34, and an ablation fiber connector 32 connected in sequence from the proximal end to the distal end.
- Water outlet adapter 36 .
- the sealing plug 31 is arranged in the luer connector 34 , and the inner boss 331 of the sealing nut 33 is in contact with the sealing plug 31 .
- the sealing nut 33 is tightened on the Luer connector 34, the inner boss 331 of the sealing nut 33 presses the sealing plug 31, and the ablation fiber 5 passes through the ablation fiber connector 32, the sealing nut 33, the sealing plug 31 and the water inlet adapter 35 Enter casing 2.
- the ablation fiber joint 32 is connected with the transmission part of the rotation driving device 4, so that the ablation optical fiber 5 in the ablation optical fiber joint 32 moves together with the ablation optical fiber joint 32, wherein the transmission part of the rotation driving device 4 can be an ablation optical fiber adapter 43; the sealing nut 33 is threadedly connected with the luer joint 34; the luer joint 34 is threadedly connected with the water inlet adapter 35; the connection between the water inlet adapter 35 and the water outlet adapter 36 can be threaded or welded or glued.
- the embodiment of the present invention does not make any limitation on this.
- the sealing nut 33 Since the sealing nut 33 is tightened on the Luer connector 34 during use, the inner boss 331 of the sealing nut 33 presses the sealing plug 31, and the sealing plug 31 squeezes the internal ablation optical fiber 5 to prevent the cooling fluid from flowing out, but the pressing does not Affects the rotation and movement of the ablation fiber 5 .
- the pipe 2 can include an inner water circulation pipe 21 and an outer water circulation pipe 22, wherein the first water pipe 37 can be a water inlet pipe or a water outlet pipe.
- the second water pipe 38 can be a water inlet pipe or a water outlet pipe, but One of the two is the outlet pipe, and the other is the inlet pipe.
- the functions of the water inlet adapter 35 and the water outlet adapter 36 can also be reversed. That is, the water inlet adapter 35 can be used for water inlet or water outlet, and the water outlet adapter 36 can be used for water inlet or water outlet, but one of the two is used for water inlet and the other is used for water outlet.
- the inner water circulation pipe 21 is arranged in the outer water circulation pipe 22 with a gap between them.
- the first water pipe 37 is communicated with the inner water circulation pipe 21 through the water inlet adapter 35, and the second water pipe 38 is connected with the outer water circulation pipe through the water outlet adapter 36. 22 Connected.
- the ablation fiber 5 enters the inner water circulation pipe 21 through the ablation fiber connector 32 , the sealing nut 33 and the sealing plug 31 .
- the cooling liquid is transported through one of the first water pipe 37 and the second water pipe 38, so that the cooling liquid passes through the gap between the inner water circulation pipe 21 and the outer water circulation pipe 22 and passes from the first water pipe 37 and the second water pipe 38.
- the other one outputs cooling liquid, so that the cooling liquid can cool the ablation optical fiber 5 in the inner water circulation pipe 21, and because of the existence of the sealing plug 31, the ablation optical fiber 5 can be cooled and sealed. .
- the cooling of the ablation optical fiber 5 is achieved by setting the sealing plug 31 and setting the plug 3 to include the first water pipe 37 and the second water pipe 38 , and setting the sleeve 2 to include the inner water circulation pipe 21 and the outer water circulation pipe 22 . seal.
- a rigid structure may be provided outside at least the first part of the ablation fiber 5, or the ablation fiber 5 may be provided with a rigid structure.
- At least a first portion of the ablation fiber 5 has a strengthened outer surface structure, wherein the first portion includes the portion of the ablation fiber 5 from the proximal end to the portion located in the sealing plug 31 and the portion beyond the sealing plug 31, and the distal end of the ablation fiber 5 is located in the system. At the most distal end, the length of the portion beyond the sealing plug 31 is greater than the moving distance of the ablation fiber 5 .
- the ablation optical fiber 5 is not fixed, but can be moved back and forth.
- the moving distance of the ablation fiber 5 is the forward movement distance;
- the movement distance of the ablation fiber 5 is the retreat distance, and the front and rear directions can be calibrated.
- the direction of the end is the front, and the direction of the proximal end is the rear.
- the length of the part beyond the sealing plug 31 is set to be greater than the moving distance of the ablation fiber 5, so as to ensure that during the forward and backward movement of the ablation fiber 5, the sealing plug 31 can always be connected with the ablation fiber 5.
- the first part of the optical fiber 5 is in contact.
- the strength of the ablation fiber 5 is enhanced by arranging at least the first portion of the ablation fiber 5 to have a rigid structure or to have a reinforced outer surface structure, and by arranging the first portion including the ablation fiber 5 from the proximal end to the In the part inside the sealing plug 31 and the part beyond the sealing plug 31, when the distal end of the ablation fiber is located at the most distal end of the system, the length of the part beyond the sealing plug 31 is greater than the moving distance of the ablation fiber 5, which ensures that even during ablation After the optical fiber 5 is moved, the ablation optical fiber 5 in the sealing plug 31 still has a rigid structure or a reinforced outer surface structure, which eliminates the effect of friction between the sealing plug 31 and the ablation fiber 5 on the rotation of the ablation fiber 5 .
- the rotation driving device 4 includes the first angle sensor
- the rotation angle of the ablation optical fiber 5 having a rigid structure or a reinforced outer surface structure can be detected, and sent to the controller, so as to accurately monitor the rotation angle of the ablation optical fiber 5 .
- the rotation angle realizes the rotation control of the ablation fiber 5 .
- FIG. 10 is a schematic structural diagram of the casing 2 provided by the embodiment of the present invention.
- a first strength enhancing structure 23 may also be provided between the outer water circulation pipe 22 and the inner water circulation pipe 21,
- a second strength enhancing structure 24 is disposed between the inner water circulation pipe 21 and the ablation optical fiber 5 .
- the first strength enhancement structure 23 may be a plurality of reinforcement frames, and the plurality of reinforcement frames may be evenly distributed between the outer water circulation pipe 22 and the inner water circulation pipe 21.
- the second strength enhancement structure 24 may also be a plurality of reinforcement frames. A plurality of reinforcing frames can be evenly distributed between the inner water circulation tube 21 and the ablation optical fiber 5 .
- a gap is provided between the second strength enhancement structure 24 and the ablation fiber 5, and the surface of the reinforcement frame that may contact the ablation fiber 5 is set as a convex surface.
- the strength and puncturing ability of the sleeve 2 are increased, the deformation is prevented when squeezed by an external force, and the circulation of the cooling fluid is blocked.
- the front and rear translation drive device 6 may include a front and rear translation drive device base 61 , at least one sliding rail 62 , a lead screw 63 , and a sliding block 64 and the second driver 65 .
- At least one sliding rail 62 and the lead screw 63 are arranged in parallel and pass through the sliding block 64. Both ends of the at least one sliding rail 62 are fixedly mounted on the front and rear translation drive device base 61, and the lead screw 63 is rotatably connected to the front and rear translation drive device base. 61 , the second driver 65 drives the lead screw 63 to rotate, the second driver 65 is installed on the base 61 of the front and rear translation drive device, and the rotary drive device 4 is installed on the sliding block 64 .
- the second driver 65 drives the lead screw 63 to rotate, and the lead screw 63 drives the sliding block 64 to move along the slide rail. Since the rotary driving device 4 is installed on the sliding block 64, the sliding block 64 can drive the rotary driving device 4 to move forward and backward.
- the second driver 65 there are various structural forms of the second driver 65, including but not limited to electric motors, hydraulic forms, and pneumatic forms, which are not limited in this embodiment of the present invention.
- the front and rear translation drive device 6 may further include a second transmission mechanism, the second driver 65 is connected with the second transmission mechanism, and the second transmission mechanism is connected with the lead screw The other end of 63 is connected, so that the second driver 65 drives the lead screw 63 to rotate through the connection of the second transmission mechanism.
- the second transmission mechanism includes a gear form and a belt form.
- the second transmission mechanism includes a driven wheel 66, a driving wheel 67 and a belt, and the second driver 65 drives the driving wheel 67 to rotate, so that the driving wheel 67 is connected with the driven wheel 66 through the belt, so that the driving wheel 67 drives the driven wheel 67.
- the wheel 66 rotates, the driven wheel 66 is connected with the other end of the lead screw 63, and the driven wheel 66 drives the lead screw 63 to rotate.
- the sliding block 64 can drive the rotary driving device 4 to move forward and backward.
- the second magnetic resonance guided laser ablation treatment system of the present invention includes: a workstation 100 , a laser ablation device 200 , a stereotaxic assembly 300 and an optical fiber cooling assembly 400 .
- the fiber cooling assembly 400 is illustrated separately and is no longer described as part of the stereotaxic assembly 300, and the ablation fiber is disposed in the fiber cooling assembly 400 in use.
- FIG. 12 is a schematic structural diagram of a second stereotaxic system according to an embodiment of the present invention.
- a stereotaxic system provided by an embodiment of the present invention includes a guide device 8 , a transmission sleeve 9 , an insert 10 and a rotary drive device 4 .
- the guide device 8 is connected to the distal end of the drive sleeve 9 , and the proximal end of the drive sleeve 9 is connected to the distal end of the insert 10 .
- the ablation fiber passes through the insert 10, the transmission sleeve 9 and the guide device 8, the distal end of the ablation fiber can be extended from the distal end of the guide device 8, and the rotation driving device 4 drives the ablation fiber to rotate.
- the insert 10 can be fixed to any structure, as long as the proximal end of the insert 10 is opposite to the distal end of the rotary drive device 4 after being fixed, so that the rotary drive device 4 can drive the ablation fiber to rotate, and the ablation fiber 5 can rotate along its own axis in the insert 10. Just move in the direction and rotate around its own axis.
- the insert 10 is fixed to a dedicated bracket.
- the stereotaxic system provided by the embodiment of the present invention includes a guide device 8, a transmission sleeve 9, an insert 10, and a rotary drive device 4.
- the guide device 8 is connected with the distal end of the transmission sleeve 9, and the The proximal end is connected to the distal end of the plug-in 10.
- the ablation optical fiber 5 passes through the plug-in 10, the transmission sleeve 9 and the guide device 8. 4. Drive the ablation fiber to rotate.
- the rotation driving device drives the ablation optical fiber to rotate to control the rotation of the ablation optical fiber
- the direction of implantation of the ablation optical fiber can be guided by the guiding device
- the ablation optical fiber can be oriented without installing an additional support structure at the skull. Control, less pain for patients, easy installation.
- the stereotaxic system provided by the embodiment of the present invention may further include a front-rear translation drive device 6 , the rotation drive device 4 is slidably connected to the front-rear translation drive device 6 , and the rotation drive device 4 is slidably connected to the front-rear translation drive device 6 .
- the rotation driving device 4 is slidably connected to the front and rear translation driving device 6
- the front and rear translation driving device 6 can drive the rotation driving device 4 to move along the length of the ablation fiber, so that the ablation fiber moves with the movement of the rotation driving device 4 .
- the plug-in 10 may also be fixed to the front-rear translation drive device 6, and the plug-in 10 and the front-rear translation drive device 6 can be fixedly connected in various ways.
- the stereotaxic system provided by the embodiment of the present invention may also include a plug-in One end of the connector 7 is fixedly connected to the front and rear translation drive device 6 , and the other end is fixedly connected to the plug 10 .
- the front and rear translation driving device 6 can drive the rotary driving device 4 to move back and forth along the length direction of the ablation fiber, so that the ablation fiber rotates with the driving device. 4 to move, thereby realizing the control of the movement of the ablation fiber along the length direction through the front and rear translation drive device.
- FIG. 13 is a schematic structural diagram of a guide device 8 provided by an embodiment of the present invention.
- the guide device 8 includes a hollow elongated structural guide member 81 and a guide device housing.
- the proximal end of the hollow elongated structural guide member 81 is connected to The distal end of the guide device housing is connected, and the proximal end of the guide device housing is connected with the distal end of the transmission sleeve 9 .
- the ablation fiber passes through the guide housing and the hollow elongated structure guide 81 from which the distal end of the ablation fiber 5 can protrude.
- the hollow elongated structure guide 81 is hollow and can guide and orient the ablation optical fiber.
- the hollow elongated structure guide 81 can be a hollow bone nail.
- the guide housing there are various structures of the guide housing, including but not limited to the following:
- the housing of the guide device is the first bone screw cap, the proximal end of the hollow elongated structure guide member 81 is threadedly connected with the distal end of the first bone screw cap, and the proximal end of the first bone screw cap is connected with the distal end of the transmission sleeve 9 .
- the guide device 8 may further include a second angle sensor and a second rotation positioning device, both of which are mounted on the guide device housing.
- the ablation optical fiber passes through the second rotational positioning device and the second angle sensor.
- the second angle sensor is detachably connected to the second rotation positioning device, and the ablation optical fiber passes through the second rotation positioning device and the second angle sensor and can move in the axial direction and rotate around its own axis.
- the second rotation positioning device clamps the ablation fiber according to the preset pressure, allows the ablation fiber to move along its own length direction, and at the same time makes the ablation fiber drive the second rotation positioning device to rotate, and the second angle sensor detects the position of the second rotation positioning device.
- the rotation angle since the ablation fiber drives the second rotation positioning device to rotate, the rotation angle of the second rotation positioning device detected by the second angle sensor is also the rotation angle of the ablation fiber, and the second angle sensor sends the detected rotation angle to control device.
- the rotation angle of the ablation optical fiber located in the guide device housing can be detected.
- FIG. 14 is an exploded view of one angle of the second rotary positioning device and the second angle sensor provided by the embodiment of the present invention
- FIG. 15 is another angle of the second rotary positioning device and the second angle sensor provided by the embodiment of the present invention. Explosion diagram.
- the second rotational positioning device may include a main body 51 , at least one adjustable jack 52 , two bearings 53 , a first shaft 54 and a second shaft 55 .
- the side of the main body 51 is provided with two holes, one end of the main body 51 is provided with a groove, the groove divides the two holes into two parts, the bottom of the groove is provided with a through hole, and one end face of the main body 51 is provided with a
- the first hole 56 adapted to the presser 52 is mobilized, one of the two holes close to the first hole 56 is communicated with the first hole 56, the two bearings 53 are arranged in the groove, and the first shaft 54 passes through the two holes
- One of the bearings 53 is arranged in one of the two holes, the second shaft 55 is arranged in the other of the two holes through the other of the two bearings 53, and the top pressure can be adjusted.
- the device 52 is arranged in the first hole 56, and the ablation optical fiber 5 is arranged between the two bearings 53 and passes through the through hole at the bottom of the groove.
- the centerlines of the two holes are parallel to each other.
- the adjustable top pressure device 52 In the use state, tighten the adjustable top pressure device 52, the two bearings 53 clamp the ablation fiber 5, and the pressure between the two bearings 53 and the ablation fiber 5 reaches a predetermined value, that is, the adjustable top pressure can be adjusted by tightening Adjust the position of the shaft in the hole communicating with the first hole 56 among the two holes, so that the shaft in the hole communicating with the first hole 56 drives the bearing 53 through which it passes to apply pressure to the ablation fiber 5, and at the same time , the shafts in the two holes that are not communicated with the first hole 56 also apply pressure to the ablation fiber 5 through the bearing 53 through which they pass, thereby, by tightening the adjustable pusher 52, the two The pressure between the bearing 53 and the ablation fiber 5 is adjusted to a predetermined value.
- the size of the hole communicating with the first hole 56 among the two holes needs to be larger than that in the hole. the size of the axis.
- the shaft in the hole that is not communicated with the first hole 56 among the two holes can be fixedly arranged in the hole, which is not limited in the embodiment of the present invention, as long as the shaft in the hole can pass through the bearing through which it passes. 53 is sufficient to apply pressure to the ablation fiber 5 .
- the type of the bearing 53 is not limited in any way in the embodiment of the present invention.
- the bearing 53 may be a bushing.
- the number of the adjustable pushers 52 may be two, and the number of the first holes 56 may be two.
- the two first holes 56 may be located on both sides of the groove.
- the second rotational positioning device includes a main body 51 , at least one adjustable top pressure device 52 , two bearings 53 , a first shaft 54 and a second shaft 55 , the other end of the main body 51
- a protrusion 511 is provided, the protrusion 511 is provided with a through hole, the through hole of the protrusion 511 communicates with the through hole at the bottom of the groove, the ablation optical fiber 5 passes through the through hole of the protrusion 511, and the second angle sensor is provided with a card hole 50, The protrusion 511 is clamped with the clamping hole 50 .
- the second angle sensor and the second rotation positioning device can be detachably connected in a way that a protrusion 511 is provided at the other end of the main body 51, and a snap hole 50 is provided on the second angle sensor.
- the two angle sensors are connected with the second rotary positioning device.
- the left and right sides of the protrusion 511 are arc-shaped, the clamping hole 50 of the second angle sensor is a horseshoe-shaped, and the protrusion 511 is clamped with the horseshoe-shaped clamping hole 50.
- the embodiment of the present invention does not The specific shapes of the protrusion 511 and the clamping hole 50 are limited, as long as the two can be clamped.
- the guide housing may include a second bone screw cap 82 , a guide housing body, and a drive sleeve mounting base 83 .
- the proximal end of the hollow elongated structural guide member 81 is threadedly connected with the distal end of the second bone screw cap 82, the proximal end of the second bone screw cap 82 is connected with the distal end of the guide device housing body, and the transmission sleeve is mounted on the base 83 It is arranged at the proximal end of the main body of the guide device housing, the transmission sleeve installation base 83 is connected to the distal end of the transmission sleeve 9, and the ablation optical fiber 5 passes through the transmission sleeve installation base 83, the main body of the guiding device housing and the second bone Nail cap 82.
- the transmission sleeve installation base 83 is arranged on the proximal end of the guide device housing body, and the transmission sleeve installation base 83 is connected with the distal end of the drive sleeve 9 , and then the distal end of the second bone screw cap 82 is threadedly connected with the proximal end of the hollow elongated structural guide member 81 .
- the main body of the guide device housing and the transmission sleeve mounting base 83 may have an integrated structure or a non-integrated structure, which is not limited in the embodiment of the present invention.
- FIG. 16 is a cross-sectional view of FIG. 13 .
- the guide device housing body may include a guide device housing body fixing portion 84 and a guide device housing.
- the body main body sliding part 85, the proximal end of the second bone nail cap 82 is connected with the distal end of the guide device housing main body fixing part 84, and the proximal end of the guiding device housing body fixing part 84 is connected to the guide device housing main body sliding part 85.
- the distal end is connected.
- the transmission sleeve mounting base 83 is disposed at the proximal end of the sliding part 85 of the main body of the guide device.
- the guide device housing body fixing portion 84 and/or the guide device housing body sliding portion 85 are provided with a scale 86 , and the guide device housing body fixing portion 84 and the guide device housing body sliding portion 85 can move relative to each other.
- the scale 86 shows the relative movement distance, that is to say, when in use, the sliding part 85 of the main body of the guiding device can be pulled away from the fixed part 84 of the main body of the guiding device. The pull-out distance is read from the scale 86, and in FIG. 16, the scale 86 is provided on the sliding portion 85 of the guide housing main body.
- the guide case body fixing portion 84 and/or the guide case body sliding portion 85 can be displayed.
- the relative motion distance between them can be provided.
- the guide device housing on the basis that the guide device housing includes the second bone nail cap 82 , the guide device housing main body and the transmission sleeve installation base 83 , the guide device housing also includes the bone nail adapter bolts 87 , the second When the screw cap 82 is tightened to the hollow elongated structural guide member 81, the distal end of the screw transfer bolt 87 is fixed in the second bone screw cap 82, and the proximal end of the bone screw transfer bolt 87 is in contact with the main body of the guide device housing. The distal end is threaded, and the ablation optical fiber 5 is passed through the bone screw adapter bolt 87 .
- the bone nail adapter bolt 87 is provided with a bolt protrusion 871, and the size of the bolt protrusion 871 is larger than the size of the opening at the proximal end of the second bone nail cap 82.
- the opening at the proximal end of the second bone screw cap 82 clamps the bolt protrusion 871 , so that the distal end of the bone screw adapter bolt 87 is fixed in the second bone screw cap 82 .
- the bone nail transfer bolt 87 In use, firstly insert the bone nail transfer bolt 87 into the second bone nail cap 82, then screw the proximal end of the bone nail transfer bolt 87 with the distal end of the guide device housing body, and finally connect the second bone nail
- the cap 82 is screwed to the hollow elongated structural guide 81 such that the opening at the proximal end of the second screw cap 82 and the hollow elongated structural guide 81 catch the bolt projection 871 .
- the guide device 8 may further include a second angle sensor 88 and a second rotation positioning device 89 , both of which are the second angle sensor 88 and the second rotation positioning device 89 .
- the ablation fiber 5 passes through the second rotational positioning device 89 and the second angle sensor 88 .
- the guide device 8 may also include a cooling sleeve 60, a cooling circulation assembly 70 and a sealing plug 31, the cooling circulation assembly 70 and the sealing plug 31 along the distal The direction to the proximal end is sequentially installed in the guide device housing, the cooling sleeve 60 passes through the sealing plug 31 and the cooling circulation assembly 70 in sequence, and the ablation optical fiber 5 is arranged inside the cooling sleeve 60 .
- the guide device 8 may further include a cooling cycle assembly cap 90, which is provided at the proximal end of the sealing plug 31 and installed in the guide device housing. 60 passes through the cooling cycle assembly cap 90 .
- cooling and sealing of the ablation optical fiber is achieved by arranging the cooling jacket 60 , the cooling circulation assembly 70 and the sealing plug 31 .
- the cooling circulation assembly 70 is clamped in the sliding part 85 of the main body of the guiding device, and the sliding part 85 of the main body of the guiding device can drive the cooling jacket 60 to perform longitudinal movement of a fixed distance relative to the fixing part 84 of the main body of the guiding device.
- the structure of the plug-in 10 is introduced as follows:
- FIG. 17 is a schematic view of the structure of the plug-in 10 .
- the plug-in 10 may include a plug-in housing 101 and a plug-in transmission sleeve installation base 102 .
- the plug-in drive sleeve installation base 102 is disposed at the distal end of the plug-in housing 101, the plug-in drive sleeve installation base 102 is connected to the proximal end of the drive sleeve 9, and the ablation optical fiber 5 passes through the plug-in housing 101 and the plug-in drive sleeve
- the base 102 is installed, the ablation fiber 5 is provided with an ablation fiber plug 501 , and the ablation fiber plug 501 can protrude from the proximal end of the insert housing 101 .
- the plug-in housing 101 and the plug-in drive sleeve mounting base 102 may be an integral structure.
- FIG. 18 is another schematic diagram of the structure of the insert 10.
- the guide device 8 includes the sealing plug 31, the frictional force between the sealing plug 31 and the ablation fiber 5 and the stress accumulation in the longitudinal direction of the ablation fiber 5 , after the rotation angle of the ablation optical fiber 5 at the second angle sensor reaches the preset requirement, the rotation angle is unstable. Therefore, when the guide device 8 further includes the cooling sleeve 60, the cooling circulation assembly 70 and the sealing plug 31, the insert 10 may also include a third angle sensor 103 and a third rotation positioning device 104, the third rotation positioning device 104 and the third angle sensor 103 are both installed in the plug-in housing 101, and the ablation optical fiber 5 passes through the third rotation positioning device 104 and 104.
- the third angle sensor 103 The specific structures and connection methods of the third rotary positioning device 104 and the third angle sensor 103 are the same as the specific structures and connection methods of the second rotary positioning device and the second angle sensor, the only difference being that the direction is different: the second angle sensor is located far away
- the second rotation positioning device is located at the proximal end; the third angle sensor 103 is located at the proximal end, and the third rotation positioning device 104 is located at the distal end.
- the guide device housing is the first structure above, here No longer.
- the third angle sensor 103 detects the rotation angle of the third rotation positioning device 104 and sends it to the control device. After receiving the rotation angle of the third rotation positioning device 104, the control device performs subsequent control operations to make the rotation of the second rotation positioning device. The angle is the same as the rotation angle of the third rotary positioning device 104 .
- the rotation angle of the ablation fiber located in the plug-in housing 83 can be detected, so that the control device can perform subsequent control operations so that the ablation fiber 5 is positioned in the second
- the rotation angle at the angle sensor is the same as the rotation angle at the third angle sensor 103 .
- the plug-in housing 101 may include an upper plug-in housing 1011 and a lower plug-in housing 1012.
- the lower shell 1012 includes an extension part 10121 and a lower connecting part 10122 connected to each other.
- the upper shell 1011 and the lower connecting part 10122 of the plug-in cover each other to form an accommodating cavity.
- the third rotation positioning device 104 and the third angle sensor 103 are installed in the accommodating cavity. Into the cavity.
- the rotary drive device 4 will be introduced below:
- the rotation driving device 4 includes a first driver 41 , the first driver 41 is connected with the ablation optical fiber 5 , and the first driver 41 drives the ablation optical fiber 5 to rotate around its own axis.
- first driver 41 There are various structural forms of the first driver 41, including but not limited to electric motors, hydraulic forms, and pneumatic forms, which are not limited in this embodiment of the present invention.
- the rotation driving device 4 may further include a first transmission mechanism, the first driver 41 is connected to the first transmission mechanism, and the first transmission mechanism is connected to the ablation optical fiber 5 . connected, so that the first driver 41 drives the ablation optical fiber 5 to rotate around its own axis through the connection of the first transmission mechanism.
- first transmission mechanism including but not limited to a gear form and a belt form.
- the ablation fiber 5 is driven to rotate around its own axis by the first driver 41 .
- the rotary driving device 4 may further include a rotary device base 42 , and the first driver 41 is mounted on the rotary device base 42 .
- FIG. 5 is a cross-sectional view of FIG. 4.
- the first driver 41 drives the ablation fiber adapter 43 to rotate, and the distal end of the ablation fiber adapter 43 is connected to the ablation fiber 5 .
- the ablation fiber adapter 43 Since the distal end of the ablation fiber adapter 43 is connected to the ablation fiber 5 , when the first driver 41 drives the ablation fiber adapter 43 to rotate, the ablation fiber adapter 43 drives the ablation fiber 5 to rotate accordingly.
- the ablation optical fiber 5 is an optical fiber
- the ablation optical fiber is connected to the distal end of the ablation optical fiber adapter 43, and also includes a transmission optical fiber
- the distal end of the transmission optical fiber is connected with the proximal end of the jumper fiber connector 44.
- the proximal end of the transmission fiber is connected to the laser generator.
- the distal end of the jumper fiber optic connector 44 is connected with the ablation fiber optic adapter 43, and the jumper fiber optic connector 44 is fixedly connected to the rotating device base 42 through the jumper fiber optic sleeve 45, and then the jumper fiber optic connector 44 is connected.
- the distal end is disconnected from the distal end of the ablation fiber adapter 43, and the ablation fiber adapter 43 is then connected to the ablation fiber.
- the ablation fiber adapter 43 can drive the ablation optical fiber connected to it to rotate along with it, and the ablation treatment can be performed through the ablation optical fiber.
- the front and rear translation driving device 6 may include a front and rear translation driving device base 61 , at least one sliding rail 62 , a lead screw 63 , a sliding block 64 and a second driver 65 .
- At least one sliding rail 62 and the lead screw 63 are arranged in parallel and pass through the sliding block 64. Both ends of the at least one sliding rail 62 are fixedly mounted on the front and rear translation drive device base 61, and the lead screw 63 is rotatably connected to the front and rear translation drive device base. 61 , the second driver 65 drives the lead screw 63 to rotate, the second driver 65 is installed on the base 61 of the front and rear translation drive device, and the rotary drive device 4 is installed on the sliding block 64 .
- the second driver 65 drives the lead screw 63 to rotate, and the lead screw 63 drives the sliding block 64 to move along the slide rail. Since the rotary driving device 4 is installed on the sliding block 64, the sliding block 64 can drive the rotary driving device 4 along the ablation fiber. 5 moves in the length direction.
- the second driver 65 there are various structural forms of the second driver 65, including but not limited to electric motors, hydraulic forms, and pneumatic forms, which are not limited in this embodiment of the present invention.
- the front and rear translation drive device 6 may further include a second transmission mechanism, the second driver 65 is connected with the second transmission mechanism, and the second transmission mechanism is connected with the lead screw The other end of 63 is connected, so that the second driver 65 drives the lead screw 63 to rotate through the connection of the second transmission mechanism.
- the second transmission mechanism includes a gear form and a belt form.
- the second transmission mechanism includes a driven wheel 66, a driving wheel 67 and a belt, and the second driver 65 drives the driving wheel 67 to rotate, so that the driving wheel 67 is connected with the driven wheel 66 through the belt, so that the driving wheel 67 drives the driven wheel 67.
- the wheel 66 rotates, the driven wheel 66 is connected with the other end of the lead screw 63, and the driven wheel 66 drives the lead screw 63 to rotate.
- the sliding block 64 can drive the rotary driving device 4 to move back and forth along the length direction of the ablation fiber 5 .
- the laser hyperthermia device based on magnetic resonance guidance provided by the embodiments of the present invention has the same technical features as the laser hyperthermia device based on magnetic resonance guidance provided by the above-mentioned embodiments, so it can also solve the same technical problems and achieve the same technical effect.
- the terms “installed”, “connected” and “connected” should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication between the two components.
- installed should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication between the two components.
Abstract
Description
Claims (20)
- 一种磁共振引导激光消融治疗系统,其特征在于,包括:消融光纤;激光消融设备,其含有激光发生器和冷却装置;立体定向系统,其容纳并控制所述消融光纤的位置和旋转角度;工作站,其配置成:控制所述立体定向装置的运动,利用磁共振温度成像技术生成并显示所述磁共振引导激光消融治疗系统工作过程中目标部位的消融信息。
- 根据权利要求1所述的磁共振引导激光消融治疗系统,其特征在于,所述立体定向系统包括:引导装置、套管、插接件和旋转驱动装置;所述套管的近端连接于所述插接件,所述套管的远端可从所述引导装置的远端伸出;使用状态下,所述消融光纤设置于所述套管内,所述旋转驱动装置驱动所述消融光纤旋转。
- 如权利要求2所述的磁共振引导激光消融治疗系统,其特征在于,所述旋转驱动装置包括第一驱动器;所述第一驱动器与所述消融光纤连接,所述第一驱动器驱动所述消融光纤围绕自身轴线旋转。
- 如权利要求3所述的磁共振引导激光消融治疗系统,其特征在于,所述系统还包括前后平移驱动装置;所述旋转驱动装置滑动连接于所述前后平移驱动装置。
- 如权利要求2-4中任一项所述的磁共振引导激光消融治疗系统,其特征在于,所述引导装置包括空心细长结构导向件和夹紧组件,所述夹紧组件的远端与所述空心细长结构导向件的近端连接,所述夹紧组件用于在所述套管伸出所述空心细长结构导向件的远端后,固定所述套管与所述空心细长结构导向件的相对位置。
- 如权利要求2-4中任一项所述的磁共振引导激光消融治疗系统,其特征在于,所述插接件包括密封塞、消融光纤接头以及沿从近端到远端的方向依次连接的密封螺母、鲁尔接头、入水转接件和出水转接件;所述消融光纤接头与所述旋转驱动装置的传动部件连接,所述密封塞设置于所述鲁尔接头内,所述密封螺母的内部凸台与所述密封塞接触;使用状态下,所述密封螺母拧紧于所述鲁尔接头,所述密封螺母的内部凸台压紧所述密封塞,所述消融光纤穿过所述消融光纤接头、所述密封螺母、所述密封塞和所述入水转接件进入所述套管。
- 如权利要求6所述的磁共振引导激光消融治疗系统,其特征在于,所述消融光纤的至少第一部分外设置有刚性结构,或者,所述消融光纤的至少第一部分具有经过强化处理的外表面结构,其中,所述第一部分包括所述消融光纤自近端起至位于所述密封塞内的部分以及 超出所述密封塞的部分,所述消融光纤的远端位于所述系统的最远端时,超出所述密封塞的部分的长度大于所述消融光纤的移动距离。
- 如权利要求4所述的磁共振引导激光消融治疗系统,其特征在于,所述前后平移驱动装置包括前后平移驱动装置基座、至少一个滑轨、丝杠、滑动块和第二驱动器;所述至少一个滑轨和所述丝杠平行设置且均穿过所述滑动块,所述至少一个滑轨的两端固定安装于所述前后平移驱动装置基座,所述丝杠转动连接于所述前后平移驱动装置基座,所述第二驱动器驱动所述丝杠旋转,所述第二驱动器安装于所述前后平移驱动装置基座,所述旋转驱动装置安装于所述滑动块。
- 如权利要求1所述的磁共振引导激光消融治疗系统,其特征在于,所述消融光纤可以侧向出光。
- 如权利要求1所述的磁共振引导激光消融治疗系统,所述工作站可以通信连接所述激光消融设备和所述立体定向系统,调节激光发生器和冷却装置的参数,控制所述消融光纤的位置和旋转角度,在磁共振检测下进行消融,根据磁共振图像反馈的温度和消融信息,对所述激光消融设备和所述立体定向系统进行反馈控制。
- 一种磁共振引导激光消融治疗系统,其特征在于,包括:光纤冷却组件,其容纳并冷却消融光纤;激光消融设备,其含有激光发生器和冷却装置;立体定向系统,其容纳并控制所述消融光纤的位置和旋转角度;工作站,其配置成:控制所述立体定向装置的运动,利用磁共振温度成像技术生成并显示所述磁共振引导激光消融治疗系统工作过程中目标部位的消融信息。
- 根据权利要求11所述的磁共振引导激光消融治疗系统,其特征在于,所述光纤冷却组件包括冷却液输送管、冷却套管、水循环转接组件、密封塞。
- 根据权利要求11所述的磁共振引导激光消融治疗系统,其特征在于,所述立体定向系统包括:导向装置,所述导向装置包括冷却套管引导件和导向装置壳体;至少两组传感器组件,所述传感器组件包括角度传感器;旋转驱动装置,所述旋转驱动装置驱动所述消融光纤旋转;控制器,所述控制器与所述传感器组件和所述旋转驱动装置通讯连接,接收所述传感器组件的角度信息,控制所述旋转驱动装置的运动,所述控制器还可以接收控制信息输入;使用状态下,所述消融光纤的远端穿过所述光纤冷却组件,所述角度传感器固定连接于不随所述消融光纤旋转的装置或者结构,所述立体定向系统可以使得不同传感器处的消融光纤旋转角度保持相同或基本相同。
- 根据权利要求13所述的磁共振引导激光消融治疗系统,其特征在于,所述立体定向系统还包括套管,所述套管使得所述第一组传感器组件和所述第二组传感器组件之间的消融光纤长度保持固定,允许消融光纤在其中围绕长轴转动和沿长轴移动。
- 根据权利要求13所述的磁共振引导激光消融治疗系统,其特征在于,所述传感器组件还包括旋转定位装置,使得所述消融光纤可以在被测定旋转角度的同时沿长轴移动,使用状态下所述旋转定位装置按照预设压力夹持所述消融光纤,所述消融光纤带动所述旋转定位 装置旋转,所述角度传感器检测所述旋转定位装置的旋转角度,并发送所述旋转角度至所述控制器。
- 如权利要求13所述的磁共振引导激光消融治疗系统,其特征在于,所述立体定向系统还包括纵向运动装置,所述旋转驱动装置可以相对所述纵向运动装置运动,所述控制器对所述纵向运动装置发送控制信息,使得消融光纤沿长轴运动。
- 如权利要求16所述的磁共振引导激光消融治疗系统,其特征在于,所述纵向运动装置与所述第二传感器组件连接。
- 如权利要求13所述的磁共振引导激光消融治疗系统,其特征在于,所述立体定向系统中,所述导向装置壳体包括骨钉帽、导向装置壳体主体和导向装置壳体后盖;所述冷却套管引导件的近端与所述骨钉帽的远端螺纹连接,所述骨钉帽的近端与所述导向装置壳体主体的远端连接,所述导向装置壳体后盖连接所述导向装置壳体主体的近端,所述导向装置壳体后盖与所述套管的远端连接,所述光纤冷却组件设置于所述导向装置壳体主体之中;使用状态下,所述消融光纤穿过所述导向装置壳体后盖、所述导向装置壳体主体、所述骨钉帽、和所述冷却套管引导件。
- 如权利要求18所述的磁共振引导激光消融治疗系统,其特征在于,所述立体定向系统中,所述导向装置壳体主体包括导向装置壳体主体固定部和导向装置壳体主体滑动部,所述骨钉帽的近端与所述导向装置壳体主体固定部的远端连接,所述导向装置壳体主体固定部的近端与所述导向装置壳体主体滑动部的远端连接,所述导向装置壳体后盖连接所述导向装置壳体主体滑动部的近端。
- 如权利要求13所述的磁共振引导激光消融治疗系统,其特征在于,所述立体定向系统包括:导向装置、套管、插件、旋转驱动装置和纵向移动驱动装置;所述导向装置包括冷却套管引导件和导向装置壳体,所述导向装置壳体包括骨钉帽、导向装置壳体主体和导向装置壳体后盖,所述导向装置壳体主体包括导向装置壳体主体固定部和导向装置壳体主体滑动部,所述骨钉帽的近端与所述导向装置壳体主体固定部的远端连接,所述导向装置壳体主体固定部的近端与所述导向装置壳体主体滑动部的远端连接,所述导向装置后盖盖合于所述导向装置壳体主体滑动部的近端,所述导向装置壳体主体固定部和/或所述导向装置壳体主体滑动部设置有刻度尺,所述导向装置壳体主体固定部和所述导向装置壳体主体滑动部可相对运动,所述刻度尺显示相对运动的距离,所述导向装置中设置第一组传感器组件,所述第一组传感器组件的角度传感器与所述导向装置壳体主体连接;所述插件中设置第二组传感器组件,所述第二组传感器组件的角度传感器与所述插件的壳体连接,所述插件和所述纵向移动驱动装置连接,使得所述插件与所述纵向移动驱动装置的相对位置不变;所述套管的近端与所述导向装置后盖连接,所述套管的远端与所述插件连接,使得所述导向装置后盖与所述插件之间的消融光纤的长度不变;所述旋转驱动装置滑动连接于所述纵向移动驱动装置;使用状态下,所述光纤冷却组件设置于所述导向装置壳体主体之中。
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