WO2023125246A1 - Auxiliary motion apparatus, drive system, and control method - Google Patents

Abstract

Provided are an auxiliary motion apparatus, drive system, and control method, belonging to the technical field of ablation surgery apparatuses. Provided is an auxiliary motion apparatus, comprising a rack (1), a motion assembly, and a drive assembly; the motion assembly is arranged on the rack (1), and the motion assembly achieves linear and/or rotary motion driven by the drive assembly; the drive assembly comprises a manual drive portion and a fully automatic drive portion; wherein the manual drive portion is used for achieving manual control over the motion assembly; the fully automatic drive portion is used for achieving fully automatic control over the motion assembly. The auxiliary motion apparatus achieves synchronous linear motion and rotary motion of an optical fiber catheter, and the precision of control of linear displacement and rotation angle is improved by means of a lead screw and gear meshing; the drive assembly is provided with a dual drive source, so that both manual adjustment of the optical fiber catheter and fully automatic adjustment of the optical fiber catheter can be achieved.

Description

Auxiliary motion device, driving system and control method

Cross References to Related Applications

This application claims the priority of the Chinese patent application filed on December 28, 2021 with the application number 202111632970.X and titled "An Assisted Movement Device, Drive System and Control Method".

technical field

The invention relates to the technical field of medical equipment, in particular to an auxiliary exercise device, a drive system and a control method.

Background technique

Medical robotics is a new interdisciplinary research field integrating medicine, biomechanics, mechanics, mechanical mechanics, materials science, computer graphics, computer vision, mathematical analysis, robotics and many other disciplines. It is currently a research hotspot in the field of robotics at home and abroad. . The most commonly used medical robot in the field of neurosurgery is also called surgical robot. In the surgical robot system, auxiliary robots account for nearly 17% of surgical operations and become one of the commonly used auxiliary equipment in daily surgical operations. With the continuous development of technology, surgical robots will develop toward miniaturization, specialization, low cost, intelligence, and automation, and will lead minimally invasive surgery into a new era.

Taking MRgLITT as an example, MRgLITT is the abbreviation of magnetic resonance imaging-guided laser interstitial hyperthermia technology. With the help of intraoperative magnetic resonance, this technology can realize real-time thermal treatment of diseased tissues (brain tumors, epilepsy lesions, radiation necrosis, etc.). It is a brand-new minimally invasive treatment technology for brain tumors, through suitable and safe temperature and heat range, to precisely destroy the diseased tissue without destroying the normal brain tissue and neurovascular structure around the lesion. Generally speaking, before implementing hyperthermia, the insertion depth, light output direction or angle of the laser delivery device (such as an optical fiber catheter) is usually planned. During the operation, the role of the optical fiber catheter will also be adjusted in real time under the guidance of magnetic resonance. Position and light direction or angle, in order to achieve the purpose of conformal ablation. It can be seen that in laser ablation, the control of the movement orientation of the fiber optic catheter has high precision requirements.

At present, MRgLITT technology is still in the stage of cultivation and development, and the existing surgical assistant robots in similar or other fields still have the following problems, so that they cannot be directly used in this laser ablation: ①, there is no mature one in China The auxiliary tool can not only be suitable for the magnetic resonance environment, but also can accurately control the movement trajectory of the fiber optic catheter. ②, the driving source of the existing surgical auxiliary devices is either manually operated or driven by a driving mechanism. Among them, the disadvantage of manual operation is that the manual control accuracy of the fiber optic catheter can only reach 1 mm, which is far from the control accuracy required for laser ablation surgery (usually less than 0.5 mm); and the manual adjustment method will prolong the operation time , the risk to patients is relatively high. Auxiliary robots with automatic driving mechanisms have more advantages than manual control in terms of accuracy, but the existing driving mechanisms are generally designed integrally on surgical auxiliary robots. The operation of the driving mechanism will affect the scanning accuracy of MRI and cause noise in the scanned image. Artifacts, etc., bring certain obstacles to the subsequent real-time analysis. ③ Considering that the LITT technology is in the early stage of development and application, the orientation control of the fiber optic catheter still needs to "walk on two legs", which can not only achieve the accuracy of manual adjustment to meet the needs of surgery, but also meet the requirements of fully automatic operation in the MRI environment. At present, there is no surgical auxiliary robot that can be controlled manually and fully automatically, which can realize double precision regulation, so as to meet the needs of high-precision surgery. ④. The existing surgical assisting robots in similar fields have complex structures, large volume and weight. If they are used in laser ablation surgery, additional head frames and holders must be used to fix them, which may lead to On the way into the target area, an additional fixing device is added to limit its running track, and once the positioning of the fixing device is deviated, it will affect the implementation of the clinical operation path, which will cause inconvenience to the operator; and the use of the gripper Surgical instruments are easily damaged. ⑤. In the existing surgical assistant robots in similar fields, the device structure for realizing linear and/or rotational motion is complicated, which usually requires multiple combination designs between several parts, and the transmission of multiple parts tends to reduce the accuracy of force transmission. Moreover, the device is prone to problems during operation, which greatly reduces the operation stability and reliability of the surgical assistant robot.

Therefore, it is necessary to develop a double-precision surgical auxiliary robot that is guided by magnetic resonance, is more intelligent, safer, has small errors, can assist medical staff, and can achieve high-precision control.

Contents of the invention

In view of the above analysis, the present invention aims to provide an auxiliary motion device, a drive system and a control method to solve the complex structure of the motion device in the prior art, low motion precision, inaccurate orientation control of surgical instruments, and the inability to operate in a nuclear magnetic environment. problem of use.

The purpose of the present invention is mainly achieved through the following technical solutions:

The present invention proposes an auxiliary motion device, which includes a frame, a motion assembly, and a drive assembly; the motion assembly is arranged on the frame, and the motion assembly realizes linear and/or rotational motion driven by the drive assembly; The driving assembly includes a manual driving part and a fully automatic driving part; wherein, the manual driving part is used to realize manual control of the moving assembly; the fully automatic driving part is used to realize fully automatic driving of the moving assembly control.

Preferably, the motion assembly includes a linear motion assembly and a rotary motion assembly, the rotary motion assembly is arranged on the linear motion assembly; the manual drive part is detachably connected to the fully automatic drive part; the frame and the moving components are made of nuclear magnetic compatible materials.

Preferably, the fully automatic driving part includes a first driving device and a second driving device; the first driving device is used to fully automatically drive the linear motion assembly to perform linear motion; the linear motion assembly can drive the rotation The motion component performs linear motion; the second driving device is used to fully automatically drive the rotary motion component to perform rotary motion, and the rotary motion component can drive the optical fiber guide to perform rotary motion.

Preferably, the manual driving part includes a first manual adjustment part and a second manual adjustment part; the first manual adjustment part is used to manually drive the linear motion assembly to perform linear motion; the linear motion assembly can drive The rotary motion component performs linear motion; the second manual adjustment part is used to manually drive the rotary motion component to perform rotary motion, and the rotary motion component can drive the optical fiber guide tube to perform rotary motion.

Preferably, the first manual adjustment part is detachably connected to the first drive device; the second manual adjustment part is detachably connected to the second drive device.

Preferably, the linear motion assembly includes a screw, a linear active motion part and a linear driven motion part, and the linear active motion part is connected to the screw rod;

The rotary movement assembly includes a driving wheel and a driven wheel, and the driving wheel and the driven wheel are meshed with each other.

Preferably, a rail guide groove is provided at the junction of the linear active movement part and the linear driven movement part, and the linear active movement part, the linear driven movement part and the guide rail guide groove are integrally formed.

Preferably, the frame includes a fixing part, a guide part, a bottom cover and a rear cover; the rear cover is arranged on the rear side of the frame; the fixing part is fixedly arranged on the front side of the frame, so The fixed part is provided with a through hole axially penetrating through; the guide part includes two guide rails, and the guide rails are movably connected with the guide rail guide grooves.

Preferably, a ring neck is provided on the linear driven movement part; the driven wheel is movably arranged in the ring neck; the optical fiber guide includes an optical fiber fixing part and an optical fiber, and the optical fiber fixing part is detachably connected to the the driven wheel, and the optical fiber passes through the circular groove of the driven wheel, the perforation of the linear driven moving part and the through hole in sequence.

Preferably, a position sensor is provided on the moving assembly or the frame.

The present invention also proposes a drive system for an auxiliary motion device, which includes a remote control system and a robot, the robot includes a communication module, a processing module, and the auxiliary motion device, and the remote control system is electrically connected to the robot for controlling Movement of the fiber optic catheter in the assisted movement device.

A method for controlling the drive system of an auxiliary motion device in the present invention includes directly manually or remotely or fully automatically controlling the operation of the drive assembly so as to drive the linear motion assembly and the rotary motion assembly to perform linear motion and/or rotary motion.

Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

In the present invention, under the drive of the second driving device, the optical fiber guide in the frame performs self-rotating motion through the rotary motion assembly, and under the drive of the first driving device, the linear motion assembly drives the rotary motion provided on the linear motion assembly The components perform synchronous linear motion, so that the fiber guide tube, the rotary motion component and the linear motion component realize the synchronization of linear motion, so that the optical fiber guide can simultaneously perform linear motion and rotary motion in the frame.

The linear driven motion part of the present invention includes a rotary motion component and a cover plate, and the rotary motion component is arranged in the linear driven motion part, so as to realize synchronous linear motion output of both the rotary motion component and the linear motion component.

The linear driven moving part of the present invention is arranged in cooperation with the cover plate, and a cavity is arranged in the linear driven moving part, and the cavity is arranged in cooperation with the rotating movement assembly, which is used for holding the rotating movement assembly and at the same time plays a role of fixing and The function of the position limit enables the fiber optic catheter in the rotary motion component to achieve linear motion output and self-rotation without any deviation in other directions, thereby increasing the accuracy of the entire operation.

According to the present invention, the outer circumference of the terminal end of the positioning rib is provided with an arcuate convex portion, the outer diameter of the positioning rib is equal to the diameter of the matching groove of the positioning rib, and the diameter of the arcuate convex portion is larger than the diameter of the matching groove of the positioning rib , so that the solitary protrusion can be stuck on the outer wall of the matching groove of the positioning rib, so that the optical fiber guide and the rotating motion assembly are engaged and fixed together without slipping or shifting, so that Ensure the concentric position of the fiber optic catheter.

The present invention is also provided with a circular scale tape and a rotary position sensor for feeding back the rotary motion of the rotary motion assembly, that is, the rotary motion of the optical fiber guide tube. At the same time, a linear position sensor and a ruler belt are also provided, and the linear position sensor is used to feed back the linear output motion of the linear motion assembly, that is, the linear motion of the fiber optic catheter, so that the operator can adjust according to the feedback of the linear/rotary motion. Proceed to the next ablation operation.

The fixing part of the present invention is provided with a through hole, one end is fixedly arranged on one side of the frame, and the through hole is coaxially arranged with the driven wheel; the other end is detachably connected with a skull nail and a head coil etc. are used to fix the device to the supporting part of the head, and ensure that the surgical channel established by the skull nail remains coaxial with the through hole, ensuring the direction accuracy of the linear motion, and making the device have a wider range of applications.

(7) The guide part of the present invention includes two guide rails, which are symmetrically arranged on both sides of the upper side of the frame respectively, and arranged parallel to the screw rod, and the guide rails are arranged in cooperation with the guide rail guide groove on the linear motion assembly, The linear motion component moves parallel to the screw rod in the same direction on the guide rail through the first driving device, so that the linear motion component can be oriented, that is, the guide rail plays a role of positioning and orientation for the movement of the optical fiber guide.

(8) There are two kinds of drive sources used to control the optical fiber catheter to realize linear and/or rotary motion in the present invention, which can be fully automatic control or manual manual control, and can be selected at any time according to the needs and needs. The drive source performs adaptive changes to the position of the fiber optic guide. And whether it is automatic control or manual control, there will be position sensor signal output to ensure the accuracy of the movement of the fiber optic catheter, the operability is changeable, and the application range is wider.

(9) The moving components of the present invention are preferably made of non-metallic materials, which are light in weight and do not affect the quality of MR images. The overall weight can be less than 40g, and the device is lightweight and can be used together with the head coil. The driving part is fixed away from the moving part and fixed on a specific bed support platform, which is firm and easy to operate. At the same time, it is also guaranteed that it is not in the MR scanning area and will not affect the image quality.

(10) In the present invention, the driving component and the moving component are connected by a flexible shaft, and the flexible shaft can be bent to a certain extent according to the site conditions, and can be used with the head frame. The inside of the flexible shaft is braided with non-magnetic stainless steel wire, and the outside is made of resin such as PTFE. The driving assembly can directly manually operate the flexible shaft to output the driving force, and can also complete the transmission of the output force through the motor. When a motor is used, the motor drive can be completed through a remote control system, so that the operator can complete the movement adjustment of the fiber optic catheter during the operation without entering the MRI (Magnetic Resonance Imaging) room.

In the present invention, the above technical solutions can also be combined with each other to realize more preferred combination solutions. Additional features and advantages of the invention will be set forth in the description which follows, and some of the advantages will be apparent from the description, or may be learned by practice of the invention.

Description of drawings

The drawings are for the purpose of illustrating specific embodiments only and are not to be considered as limitations of the invention, and like reference numerals refer to like parts throughout the drawings.

Fig. 1 is a schematic diagram of the system structure of the auxiliary exercise device of the present invention;

Fig. 2A is the first cross-sectional view of the moving assembly of the present invention;

Fig. 2B is an exploded view 1 of the moving assembly of the present invention;

Fig. 2C is an exploded view 2 of the moving assembly of the present invention;

Fig. 3A is a side view 1 of the moving assembly of the present invention;

Fig. 3B is the second side view of the moving assembly of the present invention;

Fig. 4A is the third side view of the moving assembly of the present invention;

Fig. 4B is the second cross-sectional view of the moving assembly of the present invention;

Fig. 5A is a schematic diagram of the connection relationship between the optical fiber guide and the driven wheel of the present invention;

Fig. 5B is an unassembled perspective schematic diagram of the fiber catheter fixing part of the present invention;

5C is a schematic diagram of the combination of the fiber catheter fixing part of the present invention;

Fig. 6A is a structural schematic diagram 1 of the driving assembly of the present invention;

Fig. 6B is a structural schematic diagram II of the driving assembly of the present invention;

Figure 7A is an exploded view of the drive assembly of the present invention;

Figure 7B is a perspective view of the drive assembly of the present invention;

Fig. 8A is a schematic diagram 1 of a drive assembly with a support frame of the present invention;

Fig. 8B is a second schematic diagram of the driving assembly with a support frame of the present invention;

Fig. 8C is the third schematic diagram of the driving assembly with the support frame of the present invention;

9 is a schematic diagram of the second system structure of the auxiliary exercise device of the present invention;

Fig. 10A is a schematic diagram 1 of the remote control system of the present invention;

FIG. 10B is a second schematic diagram of the remote control system of the present invention.

Reference signs:

Frame 1, linear motion assembly 2, screw rod 21, screw nut 211, linear active motion part 22, linear driven motion part 23, perforation 230, ring neck 231, notch 2310, first ring neck 2311 and second ring Neck 2312, first stepped surface 23A, second stepped surface 32A, rail guide groove 24, linear position sensor 25 and ruler belt 26, cover plate 232, first hole 2320, second hole 2321, rotary motion assembly 3, active Wheel 31 driven wheel 32, driving rod 311, optical fiber guide 4, optical fiber fixing part 41, optical fiber 42, positioning rib 410, arc convex part 4101, optical fiber guide fixer 51, first concave cavity 511, second concave cavity 512, convex Table 513, positioning groove 514, circular groove 5141, positioning rib matching groove 5142, annular groove 5120, fiber optic catheter fixing piece 52, engaging inner block 521, bifurcated end 5211, convex portion 5212, engaging outer block 522, circular Holes 5221, positioning ribs 5222, solitary protrusions 5223, circular ruler tape 53, rotational position sensor 54, fixed part 6, through hole 60, fixed hole 61, guide part 7, guide rail 71, first driving device 8, the first Two driving devices 9, bottom cover 11, front cover 13, rear cover 12, first housing 100, first manual adjustment part 100A, first rotating shaft 101, first runner 102, second manual adjustment part 100B, second Second shaft 103, second wheel 104, sliding groove 10a, sliding part 20a, fixing member 20b, second housing 200, third housing 300, first opening 300A, second opening 300B, marking ruler 300C, support frame 301, the blocking piece 302, the bent edge 3021, the remote control system 10.

Detailed ways

The auxiliary motion device, driving system and control method of an optical fiber catheter will be further described in detail below in conjunction with specific embodiments, these embodiments are only for the purpose of comparison and explanation, and the present invention is not limited to these embodiments.

In the description of the embodiments of the present invention, it should be noted that unless otherwise specified and limited, the term "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

The terms "top", "bottom", "above", "below" and "on" are used throughout the description to refer to relative positions of components of the device, such as top and bottom substrates inside the device relative position. It will be appreciated that the devices are multifunctional independent of their orientation in space.

The common working surface of the present invention can be plane or curved surface, can be inclined, also can be straight line. For the convenience of description, the embodiment of the present invention is placed on and used on a straight line, and the "height" and "up and down" are defined accordingly.

As shown in Figure 1, the present invention provides an auxiliary exercise device, which combines manual control and automatic control, and is made of nuclear magnetic compatible materials, and its control device is preferably an ultrasonic motor, so the auxiliary exercise device It can be used in the magnetic resonance environment, and under the guidance of magnetic resonance, it can realize high-precision control of the movement of interventional surgical instruments. The auxiliary motion device includes a frame 1 and a motion assembly arranged on the frame 1 . The moving assembly is used to drive the interventional surgical instrument to complete linear motion and rotary motion under the driving force. Further, the motion assembly includes a linear motion assembly 2 and a rotary motion assembly 3, and the linear motion assembly 2 and the rotary motion assembly 3 can be provided in one piece or in a detachable split form, which is not limited here .

Further, the linear motion assembly 2 can drive the rotary motion assembly 3 to perform linear motion together under the drive of the driving force; in addition, the rotary motion assembly 3 can move relative to the linear motion under the drive of the driving force The assembly 2 performs rotational movement, and the rotational movement assembly 3 can drive the interventional surgical instruments to perform rotational movement together. The driving force is derived from manual driving control or fully automatic driving control.

The structure, function and effect of the present invention will be described in detail below by taking the MRgLITT technology and the optical fiber catheter applied to the MRgLITT technology as examples.

Example 1

The present invention proposes an auxiliary movement device including a frame 1, a movement assembly and a drive assembly, the movement assembly and the drive assembly are arranged separately, and there is a certain gap between the movement assembly and the drive assembly during actual use. The setting distance of the drive assembly is set far away from the nuclear magnetic body or the magnetic resonance chamber. First, it avoids the influence of the drive assembly on the magnetic resonance imaging and temperature measurement technology, and the second is to reduce the weight of the moving assembly, so that the moving assembly The volume and weight of the movement components are reduced to the minimum, so that the movement components can be fixedly connected with the skull nails without additional fixing devices; at the same time, the reduction of the weight of the movement components can increase its stability, so that it can be used during movement. It is more stable and controllable, furthermore, the volume of the motion component can be made smaller, so that it can be flexibly adapted to narrow spaces such as a head frame or a head coil. In addition, the driving device of the driving assembly is preferably an ultrasonic motor to be suitable for use in a nuclear magnetic environment.

Please refer to FIG. 1 and FIG. 2A , the motion components include a linear motion component 2 and a rotary motion component 3 ; the linear motion component 2 and the rotary motion component 3 are arranged on the frame 1 . Specifically, the linear motion assembly 2 includes a screw rod 21 , a linear active motion part 22 and a linear driven motion part 23 . The linear active movement part 22 and the linear driven movement part 23 are arranged on the same vertical plane, the linear active movement part 22 is located below the linear driven movement part 23, and the two sides of the joint are symmetrical A guide rail guide groove 24 is provided, preferably the linear active movement part 22 , the linear driven movement part 23 and the guide rail guide groove 24 are integrally formed. The linear active movement part 22 has a screw hole, and the screw rod 21 is bolted to the linear active movement part 22 through the screw hole.

Please also refer to FIG. 2B . Further, the rack 1 is generally a rectangular parallelepiped frame structure, which has two relatively long opposite sides and two relatively short opposite sides. More specifically, the upper part of the two relatively longer opposite sides of the frame 1 is provided with a guide part 7, and the lower part is provided with a bottom cover 11; the two relatively shorter opposite sides of the frame 1 are Front cover 13, the other side is rear cover 12. The front cover is provided with a fixing part 6 . The guide part 7 includes two guide rails 71 , and the guide rails 71 are symmetrically arranged on two upper sides of the two relatively longer opposite sides of the frame 1 . Further, both ends of the guide rail 71 are respectively connected to the front cover 13 and the rear cover 12 . The guide rail 71 is slidably arranged in cooperation with the guide rail guide groove 24 . Preferably, the fixing part 6 is integrally formed with the front cover 13 , and the fixing part 6 is provided with a through hole 60 penetrating in the axial direction and a fixing hole 61 vertically arranged and communicating with the through hole 60 . The fixing part 6 is used to be fixedly connected with the cranial pin to form a cranial surgical channel through which surgical instruments, such as the optical fiber catheter 4 , can pass.

Further, both ends of the threaded rod 21 are respectively movably connected to the front cover 13 and the rear cover 12 of the frame 1 through bearings. The linear active movement part 22 and the screw rod 21 are spirally arranged through the screw nut 211, that is, the screw nut 211 is arranged on the linear active movement part 22, and the screw nut 211 and the screw nut 211 are arranged on the linear active movement part 22. Said screw rod 21 is connected. Through the flexible connection (or sliding connection) between the guide rail 71 and the guide rail guide groove 24, and the flexible connection between the linear active movement part 22 and the screw rod 21, the linear motion of the linear motion assembly 2 is finally realized. sports. More preferably, the guide rail 71 and the guide rail guide groove 24 are not essential components in the present invention, and the setting of the guide rail 71 and the guide rail guide groove 24 can make the motion trajectory of the linear motion assembly 2 more accurate Restricted on a straight line, it plays the role of positioning and directional movement.

Please also refer to FIG. 2C , the moving assembly further includes a rotating moving assembly 3 . The rotary movement assembly 3 includes a driving wheel 31 and a driven wheel 32 , the driving wheel 31 and the driven wheel 32 mesh with each other to form a transmission gear set; the center of the driving wheel 31 is fixed with a driving rod 311 . The rotary motion assembly 3 is flexibly connected with the linear driven motion part 23 of the linear motion assembly 2 . In a specific embodiment of the present invention, it is specifically designed as:

Please refer to FIG. 3A and FIG. 3B together. A perforation 230 is defined on the linear driven moving part 23 , and a ring neck 231 is disposed around the perforation 230 . Preferably, the diameter of the ring neck 231 is larger than the diameter of the perforation 230, and the diameter of the ring neck 231 is slightly larger than the diameter of the driven wheel 32, so that the driven wheel 32 can be carried out in the ring neck 231. The rotational movement is to realize the rotational movement of the driven wheel 32 in the ring neck 231 . The ring neck 231 is a non-closed ring, and a gap 2310 is opened in the lower part thereof. A movable connection hole (not shown in the figure) through which the driving rod 311 passes is defined on the linear motion assembly 2 below the notch 2310 . The driven wheel 32 is arranged in the ring neck 231, and the driving wheel 31 is meshed under the driven wheel 32, preferably, the meshing part between the driving wheel 31 and the driven wheel 32 is the gap 2310 Open an office. The connection between the driving wheel 31 and the linear motion assembly 2 is realized through the connection between the driving rod 311 and the movable connection hole.

The diameter of the driving wheel 31 is much smaller than the diameter of the driven wheel 32, and when the driving wheel 31 rotates one turn, only a small rotation of the driven wheel 32 can be realized, and then the driven wheel 32 drives the optical fiber catheter 4 rotate synchronously, so that the entire speed change gear set realizes micro-step rotation structurally, thereby realizing the fine-tuning effect on the rotation of the optical fiber guide tube 4.

Furthermore, in order to enhance the movement stability of the rotary motion assembly 3 , a cover plate 232 matching with the rotary motion assembly 3 is also fixedly arranged on the periphery of the ring neck 231 . The cover plate 232 includes a first hole 2320 and a second hole 2321 . Wherein, the first hole 2320 is opened relative to the ring neck 231 , and the second hole 2321 is opened relative to the drive wheel 31 . The accommodating cavity between the linear motion assembly 2 and the cover plate 232 is used to receive the rotary motion assembly 3 and play a role of fixing and positioning. Preferably, the driven wheel 32 is detachably connected to the optical fiber conduit 4, the first hole 2320 of the cover plate 232, the driven wheel 32, the perforation 230, the through hole 60, the optical fiber conduit 4, And the through holes of the skull nails are set concentrically, so that the optical fiber guide tube 4 in the rotary motion component 3 can realize linear motion and self-rotation motion without any deviation in other directions, thereby increasing the accuracy of the motion of the auxiliary motion device sex.

The auxiliary motion device further includes a drive assembly disposed away from the motion assembly, and the screw rod 21 and the drive rod 311 of the motion assembly are respectively connected to the drive assembly. The moving assembly realizes linear motion and/or rotational motion under the drive of the driving assembly. Further, the drive assembly drives the linear motion assembly 2 to perform linear motion; the linear motion assembly 2 can drive the rotary motion assembly 3 and the optical fiber guide 4 to perform linear motion together; the drive assembly also uses In order to drive the rotary motion component 3 to perform rotary motion, the rotary motion component 3 can drive the optical fiber guide tube 4 to perform rotary motion. Certainly, the rotary motion component 3 can also perform a rotary motion while the linear motion component 2 is performing a linear motion, so that the optical fiber guide 4 can perform both a linear motion and a rotary motion at the same time.

The moving assembly of the present invention is simple in structure, wherein said driven wheel 32 is both a rotating moving assembly and a fixing member for fixing the optical fiber guide tube 4, and realizes multiple moving functions with a very small number of parts; in addition, the moving assembly of the present invention is preferably non-metallic The material is light in weight and does not affect the quality of MR images. The overall weight can be less than 40g or 20g lighter. The equipment is small and light. It can be used with head coils and can be easily fixed with skull nails without Applying excessive loads to the skull pins. The driving part is fixed away from the moving part and fixed on a specific bed support platform, which is firm and easy to operate. At the same time, it is also guaranteed that it is not in the MR scanning area and will not affect the image quality.

Example 2

Please refer to Fig. 2A to Fig. 2C, Fig. 3A to Fig. 3B, Fig. 4A to Fig. 4B again, another specific embodiment 2 of the present invention differs from embodiment 1 in that, in order to make the movement of the rotary motion assembly 3 To be more stable and precise, the second embodiment further optimizes the cooperation between the linear motion component 2 and the rotary motion component 3 .

The ring neck 231 includes a first ring neck 2311 and a second ring neck 2312 , and the connection between the first ring neck 2311 and the second ring neck 2312 forms a stepped shape. Correspondingly, the side of the driven wheel 32 that conflicts with the linear driven moving part 23 has a stepped abutting surface that is adapted to the ring neck 231 . That is to say, the ring neck 231 (or the linear driven moving part 23) and the driven wheel 32 are installed together through at least one step surface, and the ring neck 231 (or the linear driven part 23) The first stepped surface 23A of the moving part 23) forms a step-by-step support structure for the second stepped surface 32A of the driven wheel 32 .

Specifically, the driven wheel 32 is a stepped cavity structure with one side open, and the cavity structure includes a first cavity 511 and a second cavity 512 . The first concave cavity 511 and the second concave cavity 512 are both cylindrical concave cavity structures, they are coaxially arranged and adjacent to and communicate with each other, and the diameter of the first concave cavity 511 is larger than that of the second concave cavity 512 A diameter of , and a boss 513 is formed at the junction of the two. The stepped surface 32A where the boss 513 is located abuts against the stepped surface 23A formed at the junction of the first ring neck 2311 and the second ring neck 2312, thereby ensuring that the driven wheel 32 is moving in a straight line and/or Stability during rotary motion.

Furthermore, the outer diameter of the second cavity 512 of the driven wheel 32 matches the first collar 2311 . More preferably, the outer diameter of the second cavity 512 is smaller than that of the second collar 2312 , so as to realize the limiting and rotational movement of the driven wheel 32 in the collar 231 .

Please refer to FIG. 4A to FIG. 4B and FIG. 5A together. The bottom surface of the second concave cavity 512 of the driven wheel 32 is provided with a positioning groove 514, and the positioning groove 514 is compatible with the first concave cavity 511 and the second concave cavity. 512 concentric setting. Preferably, the positioning groove 514 includes a circular groove 5141 and a positioning rib matching groove 5142, and a plurality of positioning rib matching grooves 5142 are uniformly arranged on the outer periphery of the circular groove 5141. Preferably, there are two positioning rib matching grooves 5142 and they are arranged symmetrically on the outer periphery of the circular groove 5141 . Optionally, the number of the positioning rib matching grooves 5142 can also be three or more, and they are arranged on the outer periphery of the circular groove 5141 at equal intervals.

As shown in FIG. 5A , the optical fiber guide 4 includes an optical fiber fixing part 41 and an optical fiber 42, and one end of the optical fiber fixing part 41 abutting against the driven wheel 32 is provided with a positioning rib 410, and the positioning rib 410 is connected to the The positioning ribs are matched with the slots 5142. When in use, the optical fiber 42 of the optical fiber catheter 4 and the positioning rib 410 respectively pass through the circular groove 5141 and the positioning rib matching groove 5142 until the optical fiber fixing part 41 abuts against the second The bottom surface of the concave cavity 512 is fixed to the edge of the matching groove 5142 of the positioning rib 410 by means of the arc protrusion 4101 at the end of the positioning rib 410 to realize the relative fixing of the optical fiber guide 4 and the driven wheel 32 . In the present invention, the relative static relationship between the optical fiber guide 4 and the driven wheel 32 is realized by the cooperation of the positioning rib 410 and the matching groove 5142 of the positioning rib, thereby realizing the rotational movement of the optical fiber guide. Of course, other connection methods can also be used between the optical fiber guide tube 4 and the driven wheel 32, such as bonding, clamping connection, interference fit, threaded connection, etc. For example, the internal thread of the driven wheel 32 is provided. The periphery of the fiber fixing portion 41 of the fiber guide 4 is provided with external threads, and the fixed connection between the two is realized by screwing the internal and external threads. The above connection manners are all existing technologies, and will not be repeated here.

Please refer to FIG. 2A to FIG. 2C and FIG. 3A to FIG. 3B again. Further, the driven wheel 32 is provided with an annular groove 5120 on the bottom surface of the second concave cavity 512 against the linear driven moving part 23 , so that A circular tape 53 is disposed in the annular groove 5120 , and a rotational position sensor 54 is disposed on the other end surface of the linear driven moving part 23 (the end surface close to the fixed part 6 ).

The present invention detects and feeds back the rotary motion of the rotary motion assembly 3 in real time through the circular scale belt 53 and the rotary position sensor 54, so that the operator can perform the next step on the rotary motion according to the feedback of the rotary motion. Motion operation instructions for the fiber optic catheter 4.

Further, please refer to FIG. 3A to FIG. 3B , one side of the linear active movement part 22 is provided with a linear position sensor 25 and a ruler belt 26 . The present invention uses the linear position sensor 25 and the ruler belt 26 to feed back the linear motion of the linear motion assembly 2 in real time, so that the operator can carry out the next step of adjusting the optical fiber according to the feedback of the linear motion. Movement operation instruction of catheter 4.

The circular ruler belt 53 and the rotary position sensor 54, the linear position sensor 25 and the ruler belt 26 are all prior art and will not be described again.

Example 3

Further, as shown in FIGS. 5B-5C , an optical fiber catheter fixing part is provided inside the driven wheel 32, and the optical fiber catheter fixing part includes an optical fiber catheter holder 51 and an optical fiber catheter fixing part 52, and the optical fiber catheter holder 51 It is detachably mated with the fiber optic conduit fixing member 52 , and the fiber optic conduit fixture 51 is fixedly fitted inside the driven wheel 32 .

Specifically, the optical fiber catheter fixer 51 is a stepped cavity structure, and the cavity structure includes a first cavity 511 and a second cavity 512 . The first concave cavity 511 and the second concave cavity 512 are both cylindrical concave cavity structures, they are coaxially arranged and adjacent to and communicate with each other, and the diameter of the first concave cavity 511 is larger than that of the second concave cavity 512 The diameter of the two adjacent to form a right-angle boss 513.

Further, a positioning groove 514 is defined at one end of the fiber catheter holder 51 near the second cavity 512 , which is coaxially arranged with the first cavity 511 and the second cavity 512 . The positioning groove 514 includes a circular groove 5141 and a positioning rib matching groove 5142, and a plurality of positioning rib matching grooves 5142 are uniformly arranged on the outer periphery of the circular groove 5141. Preferably, there are two positioning rib matching grooves 5142 and they are arranged symmetrically on the outer periphery of the circular groove 5141 . Optionally, the number of the positioning rib matching grooves 5142 can also be three or more, and they are arranged on the outer periphery of the circular groove 5141 at equal intervals.

Specifically, the optical fiber conduit fixing member 52 includes an engaging inner block 521 and an engaging outer block 522, the engaging outer block 522 is a hollow tube body, a groove is provided in the tube body, and the inner wall of the groove is provided with internal thread, the inner block 521 is a hollow pipe column, and the end of the inner block 521 and the outer block 522 is a bifurcated end 5211, and the bifurcated end 5211 is provided with a plurality of bifurcated ends. A plurality of forks are evenly distributed, each forked end is provided with a convex portion 5212, the convex portion 5212 is an arc-shaped elastic member with a cavity at one end, the opening faces the center of the pipe string, The space size of the cavity will decrease with the increase of the pressing force around the protrusion 5212 , so as to realize the tight fit between the bifurcation and the fiber guide tube 4 . The outer wall of the convex part 5212 is provided with an external thread, and the external thread is spirally connected with the internal thread, and the bifurcation of the bifurcated end 5211 will slowly gather together with the helical locking of the outer block 522, and The fastening effect on the fiber optic catheter 4 is achieved through the dual functions of the tight fit between the convex portion 5212 and the fiber catheter 4 and the aggregation of the bifurcated end 5211 .

Further, the outer diameter of the engaging outer block 522 is the same as the inner diameter of the first cavity 511 , and the two are detachably connected. One end of the tube body of the engaging outer block 522 is provided with a circular hole 5221 for placing an optical fiber guide tube, and the outer periphery of the circular hole 5221 on the engaging outer block 522 is symmetrically provided with positioning ribs 5222, and the positioning ribs 5222 can be Two, can also be three or more than three, the outer circumference of the terminal end of the positioning rib 5222 is provided with an arcuate convex portion 5223, and the outer diameter of the ring formed by a plurality of positioning ribs 5222 is equal to that of the positioning rib. The diameter of the groove 5142 and the diameter of the solitary protrusion 5223 are greater than the diameter of the positioning rib matching groove 5142 .

During implementation, the fiber optic conduit 4 is put into the column of the engaging inner block 521 first, and the optical fiber conduit 4 can move freely when the bifurcated end 5211 of the engaging inner block is not fastened, and the outer block will be engaged when fixed. 522 is spirally connected with the inner block 521, and the bifurcated end 5211 of the inner block 521 makes the inner wall of the convex part 5212 fit closely with the optical fiber catheter 4 through the screw fastening force of the outer block 522, and at the same time The plurality of bifurcations are gathered so that the fiber optic guide 4 can be securely locked in the fiber guide fixing member 52 . Next, pass one end of the positioning rib 5222 of the optical fiber catheter fixing member 52 through the positioning groove 514 of the optical fiber catheter fixing device 51, and the solitary protrusion 5223 first passes through the positioning rib matching groove 5142, because the solitary protrusion 5223 The diameter is greater than the diameter of the positioning rib matching groove 5142, so that the solitary protrusion 5223 can be stuck on the outer wall of the positioning rib matching groove 5142. At this time, the tube body of the engaging outer block 522 is just in line with the first A concave cavity 511 is engaged and connected so that the end of the convex portion 5212 of the engaging outer block 522 is just in contact with the right-angled boss 513 so that it is stuck in the first concave cavity 512, so that the optical fiber guide tube The fixing part 52 and the fiber catheter holder 51 are engaged and fixed together without slipping or shifting, so as to ensure that the fiber catheter 4 can be fixed in the fiber catheter holder 51 without slipping or shifting. The occurrence of the position, increase the accuracy of the movement of the optical fiber catheter 4 during the operation.

Further, the end of the engaging inner block 521 away from the engaging outer block 522 is provided with a fine-tuning assembly 34, the fine-tuning assembly 34 includes a fine-tuning clamping part 341 and a fine-tuning fixing part 342, and the fine-tuning clamping part is arranged near The end of the engaging inner block 521 . The fine-tuning clamping part 341 includes an inner clamp and an outer clamp for clamping the engaging inner block 521 so as to clamp and fix the optical fiber guide 4 in the engaging inner block 521 . Both ends of the outer wall of the inner fixture are provided with external threads, the inner wall of the outer fixture is provided with internal threads, the two are connected by threads, and an anti-slip rubber ring is also arranged between the two, so that the inner fixture and the The friction between the outer clamps is increased to further achieve the fastening effect. The fine-tuning fixing part 342 includes an inner fixing part and an outer fixing part, the inner wall of the outer fixing part is provided with an inner wall thread, which is screwed with the outer thread at the other end of the inner fixture, and the inner fixing part is arranged on the outer fixing part. Between the piece and the inner clamp, and its inner wall is provided with serrated protrusions, which are used to clamp the optical fiber guide tube 4 more tightly while preventing slipping.

Example 4

Please refer to FIG. 1 , and FIG. 6A to FIG. 6B , the auxiliary movement device further includes a drive assembly disposed away from the movement assembly. The driving assembly includes a first driving device 8 connected to the screw rod 21 and a second driving device 9 connected to the driving rod 311 . The first drive device 8 is used to drive the linear motion assembly 2 to perform linear motion; the linear motion assembly 2 can drive the rotary motion assembly 3 to perform linear motion; the second drive device 9 is used to drive The rotary motion component 3 performs rotary motion, and the rotary motion component 3 can drive the optical fiber guide tube 4 to perform rotary motion.

During implementation, under the drive of the second driving device 9, the optical fiber guide tube 4 in the frame 1 rotates through the rotary motion assembly 3, and the linear motion assembly 2 is driven and set under the drive of the first driving device 8. The rotary motion component 3 on the linear motion component 2 performs synchronous linear motion, so that the rotary motion component 3 and the linear motion component 2 realize the synchronization of linear motion, thereby further realizing that the optical fiber guide 4 can perform linear motion and rotation at the same time sports. Furthermore, the drive assembly includes a drive device and a force switching device, by which the drive force can be switched to different motion components to achieve two forms of motion, linear and rotary, and the drive device and the force switching device are prior art and will not be described here.

As shown in Fig. 6A and Fig. 6B, the present invention provides a driving assembly capable of realizing dual driving sources, and the driving assembly can realize both automatic control and manual control. The driving assembly includes a manual driving part and a fully automatic driving part, and the manual driving part is detachably connected to the fully automatic driving part. When fully automatic circuit control is required, the connecting ends of the screw rod 21 and the driving rod 311 can be directly connected to the fully automatic driving part respectively. When manual adjustment is required, it can be realized by directly connecting the connecting ends of the screw rod 21 and the driving rod 311 with the manual driving part respectively. The following will illustrate the design idea of the drive assembly in one of the preferred embodiments of the present invention. Embodiment 4 of the present invention is only an illustration, not a limitation. Therefore, all inventions within the design idea of the present invention are Within the protection scope of the present invention.

Please refer to FIG. 6A to FIG. 6B again, the driving assembly of the present invention includes a first housing 100 and a second housing 200 , and the first housing 100 and the second housing 200 are movably connected. Wherein, a first manual adjustment part 100A and a second manual adjustment part 100B are disposed in the first housing 100 ; a first driving device 8 and a second driving device 9 are disposed in the second housing 200 . Further, the screw rod 21 is detachably connected to the first manual adjustment part 100A and the first driving device 8 in sequence, and the driving rod 311 is connected to the second manual adjustment part 100B and the first driving device 8 in sequence. Two driving devices 9 are detachably connected. At this time, drive the first driving device 8 and the second driving device 9, and then drive the first manual adjustment part 100A and the second manual adjustment part 100B to move together, so as to realize the movement of the moving assembly. Linear and/or rotary motion.

Furthermore, the first manual adjustment part 100A and the drive shaft of the first drive device 8 can be disconnected through the connecting sleeve, and the second manual adjustment part 100B and the second drive The drive shaft of the device 9 can be disconnected through the connecting sleeve, and the manual control of the movement assembly can be realized only by manually adjusting the first manual adjustment part 100A and the second manual adjustment part 100B.

Referring to FIG. 7A and FIG. 7B together, the first housing 100 has an accommodating cavity a and an accommodating cavity b, the accommodating cavity a and the accommodating cavity b are horizontally arranged side by side, and a partition is provided between the accommodating cavity a and the accommodating cavity b, Two connection sleeve grooves are provided on the partition for accommodating the connection sleeves; the first manual adjustment part 100A and the second manual adjustment part 100B are provided in the accommodating cavity a. The first manual adjustment part 100A includes a first rotating shaft 101 and a first rotating wheel 102 , and the second manual adjusting part 100B includes a second rotating shaft 103 and a second rotating wheel 104 . A second casing 200 is movably connected in the accommodation cavity b. The first driving device 8 and the second driving device 9 are arranged in the second housing 200 . The first driving device 8 and the second driving device 9 may preferably be ultrasonic motors. The driving shaft of the first driving device 8 is detachably connected to the first rotating shaft 101 , and the second driving device 9 is detachably connected to the second rotating shaft 103 .

The first housing 100 is provided with sliding grooves 10a on both side walls perpendicular to the partition, and the second housing 200 is provided with sliding grooves 10a on both side walls perpendicular to the partition. The groove 10a is fitted with the sliding part 20a. Preferably, the sliding part 20a is a structure protruding from the second housing 200, and when the sliding groove 10a is slidably connected to the sliding part 20a, the outer surface of the sliding part 20a is in contact with the first housing. The outer surfaces of the body 100 are flush. The sliding part 20a can correspondingly slide in the sliding groove 10a. Furthermore, in order to better fix the relative positions of the first housing 100 and the second housing 200, the sliding part 20a is also screwed with a fixing part 20b, and the end surface size of the fixing part 20b is greater than the groove size of the sliding groove 10a, when the second housing 200 slides to the required position of the first housing 100, the fixing member 20b is tightened so that the end surface of the fixing member 20b Against the first housing 100 , a fixed connection between the first housing 100 and the second housing 200 is realized. Further, the drive assembly further includes a third housing 300 , and the third housing 300 is covered on the upper parts of the first housing 100 and the second housing 200 to achieve sealing and support. Furthermore, the third housing 300 is further provided with a first opening 300A and a second opening 300B. A portion of the first rotating wheel 102 is exposed in the first opening 300A, and a portion of the second rotating wheel 104 is exposed in the second opening 300B. A marking ruler 300C is also provided near the first opening 300A and the second opening 300B, so that the movement precision of the manual adjustment is more controllable. The housing of the driving assembly described in the present invention can have various structures, which will not be repeated here.

Please refer to FIG. 8A, FIG. 8B and FIG. 8C together. In order to prevent the first wheel 102 and the second wheel 104 from going backwards during manual adjustment, on the third housing 300, A support frame 301 and a blocking piece 302 are arranged on the outside of the first runner 102 and the second running wheel 104 respectively, and one end of the support frame 301 and the blocking piece 302 is movably connected by a movable shaft, and the blocking piece The other end of the sheet 302 is provided with a bent edge 3021, and the bent edge 3021 can be fastened in the tooth grooves of the first runner 102 and the second runner 104 to fix the first runner 102 and the position of the second rotating wheel 104, at the same time cooperate with the position sensor to increase the movement accuracy of manual adjustment. Of course, the drive assembly of the present invention is also provided with an electrical connection port and a processor, both of which are prior art, and will not be repeated here again.

Example 5

Please refer to Fig. 9, Fig. 10A and Fig. 10B, a driving system of an auxiliary motion device for an optical fiber catheter in ablation surgery, including a remote control system 10 matched with an auxiliary motion device described in Embodiment 1 to Embodiment 4 and A robot; the robot includes: a communication module, a processing module, and an auxiliary movement device, and the auxiliary movement device is the auxiliary movement device described in Embodiment 1 to Embodiment 4.

The remote control system 10 includes: a control module for displaying intraoperative magnetic resonance images, wherein the images include ablation conditions and orientation information of the fiber optic catheter 4, wherein the orientation information includes at least one of the following: The insertion depth of the fiber optic conduit 4, the insertion direction of the fiber optic conduit 4, and the rotation angle of the fiber optic conduit 4; the control module is also used to generate a control command and send the control command to the robot, wherein the The control command is generated after it is judged that the optical fiber catheter 4 needs to be adjusted according to the ablation situation and the orientation information. The communication module of the robot is used to communicate with the control module and receive the control command from the control module, wherein the control command carries parameters for adjusting the optical fiber catheter 4, so The parameters include at least the orientation information to be adjusted of the optical fiber catheter 4, and the orientation information to be adjusted includes at least one of the following: insertion depth, insertion direction, and rotation angle; the processing module is used to convert the control command to The carried parameters are converted into motion information of the robot arm, and the motion information is sent to the auxiliary motion device; the auxiliary motion device is used to perform motion according to the motion information, wherein the motion drives the optical fiber The catheter 4 moves according to the parameters, and the movement information includes at least one of the following: speed of movement, direction of movement, and angle of rotation.

As shown in FIG. 10A and FIG. 10B , the control module can be located in the host, which can be the host in the laser ablation equipment, and the host is generally placed outside the magnetic resonance room when the ablation operation is performed. The functions of the control module and the robot are described below.

The control module is used to display the intraoperative magnetic resonance image, wherein the image includes the ablation situation and the orientation information of the optical fiber catheter 4, where the orientation information may include at least one of the following: the insertion depth of the optical fiber catheter 4, the insertion direction of the optical fiber catheter 4 , the rotation angle of the fiber optic guide tube 4, and the like. During the ablation process, it can be determined at any time according to the ablation situation and the orientation information of the optical fiber catheter 4 that the orientation of the optical fiber catheter 4 needs to be adjusted. Based on this, the control module is also used to generate a control command and send the control command to the robot, wherein the control command is generated after it is judged that the optical fiber catheter 4 needs to be adjusted according to the ablation situation and the orientation information.

In an optional embodiment, the control module can realize the remote control function of the robot. Therefore, the remote control system can be understood as a part of the control module, and the remote control system can also include a hardware control system. A device such as a remote control controls the robot.

In the mechanism shown in FIG. 10A and FIG. 10B , the auxiliary motion device may include a driving assembly and a motion assembly, and the motion assembly is responsible for driving the linear and/or rotational motion of the fiber optic guide tube 4 . The motion component can also be equipped with an absolute position sensor for closed-loop determination of the specific position of the fiber optic catheter. The motion mechanism is required to be small and light, and can be used in skull nails and head coils without affecting the quality of MR scanning images.

The driving component is used to provide power for the moving component, and this part can be integrated with the moving component or separated. Further, it is preferred to adopt a separate method, to separate the drive assembly from the magnetic resonance body or the MR scanning chamber, and then complete the torque transmission between the two through the power transmission structure. In the present invention, the driving source control of the driving assembly can be manual control or fully automatic control, and the movement accuracy of the moving assembly is further guaranteed due to the existence of the position sensor and the marking ruler. Further, the position sensor can be directly connected to the drive assembly through an electrical connection line, and can also be directly connected to the control system.

In Fig. 10B, the information obtained from the MRI structural image can be used to judge the displacement distance of the moving components, further double-calibrating the real situation of the movement, and avoiding accidents under special circumstances.

Through this embodiment, an auxiliary robot is introduced to operate the adjustment of the fiber optic catheter 4 during the ablation process. The auxiliary robot is set next to the patient and can control the operation of the auxiliary motion device according to the pre-positioning information. Through the introduction of the auxiliary robot, the adjustment of the fiber optic catheter 4 can realize both automatic control and manual adjustment, which improves the efficiency and accuracy of the adjustment of the fiber optic catheter 4 , and thus enables the operation to achieve better results.

The above-mentioned control module can also be used for preoperative ablation planning, and an ablation strategy is generated after the preoperative ablation planning. The ablation strategy includes at least one ablation stage, and each stage is configured with the expected ablation result corresponding to the stage, and the optical fiber catheter 4 The light output information and the orientation information of the optical fiber catheter 4, the ablation phases in the ablation strategy are executed according to the sequence configured in the ablation strategy. During the ablation process, there may be multiple ablation stages according to the pre-generated ablation strategy, for example, for an irregularly shaped tumor, multiple ablation stages need to be formulated according to the shape of the tumor, and each ablation stage is used to ablate a part of the tumor After one stage is completed, the orientation of the fiber optic catheter 4 needs to be adjusted for the next stage of ablation. At this time, in this embodiment, the robot can be controlled by the control module to adjust the fiber optic catheter 4 . In this optional embodiment, the control module is used to obtain the expected ablation result corresponding to the current ablation stage, and judge whether the current ablation result is consistent with the expected ablation result according to the MRI image information, and enter the next ablation stage in the pre-generated ablation strategy , and obtain adjustment information on whether the optical fiber catheter 4 needs to be adjusted in the next ablation stage, and then generate a control command according to the adjustment information.

There are many ways to judge whether the ablation result is consistent with the expected ablation result. For example, three-dimensional virtual modeling can be performed on the estimated ablation area, which can be fitted into an approximate ablation area, or the preoperative structural phase (or other multiple Modal image) and the same sequence of images after surgery, use the contrast method to highlight the changed area, or use the three-dimensional fast delineation method to reconstruct the postoperative ablation area, which is consistent with the preoperative estimated The ablation area is compared. If the calculated ablation percentage exceeds 110%, it is considered that the ablation is excessive; if it is less than 90%, it is considered that the ablation is insufficient. At the same time, it is necessary to consider the range where the expected ablation area is overlapped and the range outside the expected ablation area. If the percentage is between 90% and 110%, the ablation result is considered to be the same as the expected ablation result.

In another optional embodiment, during the ablation process of a certain stage, the ablation may also be monitored in real time. There are many ways to monitor the ablation process in real time, and an optional implementation is provided in this embodiment. In this optional embodiment, the monitoring module performs three-dimensional delineation of the ablation area and the surrounding area, and attaches corresponding material attributes to store a list of tissue material attributes. If there are two or more types of tissue in the ablation area, fine segmentation is required, so that The ablation parameters change at the tissue junction; if there is a tumor in the ablation area, the area other than the tumor will be the same type of tissue by default, or they can be delineated separately, and estimated using the preoperative ablation prediction control module to obtain the corresponding ablation parameters. Parameters include cooling rate, laser power, and light exposure time.

Insert the ablation probe into the corresponding position, set the FOV (field of view) of the magnetic resonance scan, and the monitoring module automatically recognizes and judges the size of each pixel, and uses each pixel as an ablation unit for calculation.

Under the non-invasive temperature measurement using magnetic resonance, combined with the preoperative segmentation and assignment of the expected ablation area, that is, the ablation parameters and material properties, the ablation prediction is performed using the Arrhenius equation and/or the CEM43 model.

In different ablation stages, different cells are marked with different colors. When using the Arrhenius equation, choose to open different ablation thresholds. Assuming that the chemical reaction rate coefficient Ω=1, the maximum cell damage is 63.2%, it is displayed as light yellow in this range; when the chemical reaction rate coefficient Ω=4.6, the cell damage is about 99%, it is displayed in orange in this range, to show that the cell ablation in this range is relatively complete. In other regions of interest, if the specified percentage is not ablated but exceeds 43 degrees Celsius, these regions are displayed in green, and the CEM43 model is also used to display different colors under different equivalent ablation durations, for example: in Segmented display for 2 minutes equivalent, 10 minutes equivalent and 60 minutes equivalent. The segmented ablation display enables doctors to better judge the ablation effect. When displaying the ablation area, the ablation area is Translucent, after superimposing and displaying the tissue structure phase, the ablation range and which areas have been ablated can be seen at the same time.

When it is necessary to adjust the orientation of the fiber optic catheter 4 in real-time monitoring, a pause command can be sent through the control module, wherein the pause command is used to instruct the fiber optic catheter 4 to suspend the ablation; after receiving the pause command, the control module receives the user input The adjustment information generates a control command, wherein the adjustment information is used to adjust the current orientation of the fiber optic catheter 4 .

For example, a direction control device can also be set on the host computer, which can be a handle (or it can also be a plurality of handles, and the plurality of handles include handles for controlling up and down, handles for controlling rotation, and handles for controlling movement in a plane. handle, etc.), the user can control the movement of the auxiliary movement device through the operation of the handle. At this time, the control module can obtain the displacement of the handle, and convert the displacement into a control command for controlling the movement of the auxiliary movement device and send it to the robot.

In an optional embodiment, the pause command is issued by the user of the control module (for example, the user determines through the image information displayed by the host that it is necessary to adjust the orientation of the fiber catheter 4); and/or, the pause command can also be It is issued by the control module according to the pre-configured alarm conditions, where the alarm conditions are used to indicate the occurrence of risk during the operation, for example, if the actual ablation area is larger than the expected ablation area, prompt whether to stop the ablation, such as the ablation coverage area exceeds 110% monitoring The module will cut off the energy output; for another example, it may also include: exceeding the maximum depth of the optical fiber catheter 4, exceeding the planned ablation boundary, exceeding a safe temperature threshold, and the like.

If a patient has multiple different lesion parts, it may be possible to use multiple fiber optic catheters 4 for ablation. As an optional implementation, the control module can also display the ablation status of the multiple fiber optic catheters 4 in the system to identify The fiber optic catheter 4 that needs to be adjusted among the plurality of fiber optic catheters 4, and a control command is generated for the fiber optic catheter 4 that needs to be adjusted, wherein the control command carries the identification information of the fiber optic catheter 4 that needs to be adjusted, and the identification information is used to indicate the auxiliary movement device The orientation of the optical fiber guide 4 corresponding to the identification information is adjusted.

The different stages of the ablation strategy and whether to use multiple fiber optic catheters 4 can be completed through preoperative planning. In the preoperative planning, there is another important part, which is to plan the path of the fiber optic catheter 4 . After the path is planned, the doctor can insert the optical fiber catheter 4 according to the pre-planned path, or the robot can be controlled by the control module to insert. For example, the control module is also used to plan the path of the optical fiber catheter 4 through human tissue to reach the lesion before operation, wherein the path is a path in human tissue; the robot is also used to control the optical fiber catheter 4 to reach the lesion along the path.

According to the path calculation, the motion information of the robot can be calculated by the control module, or can also be calculated by the robot, that is, the control module is used to calculate the motion information of the auxiliary motion device of the robot according to the path, and send the motion information to the robot; Alternatively, the control module is used to send the path to the robot; the robot is used to calculate motion information according to the path; the robot is used to control the auxiliary motion device to drive the optical fiber catheter 4 to the lesion site along the path according to the motion information obtained by path calculation. As an optional implementation, the control module is also used to monitor whether the movement of the fiber optic catheter 4 driven by the robot conforms to the path according to the path information, and if it deviates from the path, send an adjustment command, wherein the adjustment command is used to assist the robot The motion information of the motion device is used to adjust; the robot is also used to adjust the motion according to the adjustment command.

There are many ways to obtain whether the movement of the fiber optic catheter 4 conforms to the path. For example, the control module can monitor the movement of the fiber optic catheter 4 through the information of the magnetic resonance image and/or the data fed back by the sensor provided on the auxiliary movement device. Whether it conforms to the route, wherein, the sensor provided on the auxiliary exercise device may include at least one of the following: a motion sensor and a displacement sensor.

As an optional way, in the adjustment of all the fiber optic catheters 4 in the above-mentioned embodiments, the processing module of the robot is also used to obtain the motion state of the auxiliary motion device when it is moving under the control of motion information, and the motion The status is sent to the control module through the communication module. The control module can also judge whether the movement of the fiber optic catheter 4 is in line with expectations according to the movement of the fiber optic catheter 4 driven by the auxiliary movement device and the received motion state. This approach can provide better security guarantees.

The robot in the above-mentioned embodiment can be sold or used separately. If it cooperates with the control module of other third-party manufacturers, the robot provides an interface, which is used to clarify the method and parameters of controlling the robot, and the third-party control module and the robot. The way the robot communicates. Similarly, the feedback parameters of the robot are also defined through the interface. This can increase the adaptation of the robot, and can also add the robot as an auxiliary control function when the user has purchased a third-party control module.

In the above system or the robot sold separately, a remote interaction module can also be added to control the robot in the magnetic resonance room. For example, the control includes at least one of the following: calibrating the robot, Control the robot to move, control the robot to puncture, control the emergency stop of the robot, and control the auxiliary motion device of the robot.

Example 6

A control method of the driving system of the auxiliary exercise device of the fourth embodiment. The above drive system is divided into manual drive and fully automatic drive.

Manual drive:

As shown in Fig. 6A and Fig. 6B, the present invention provides a driving assembly capable of realizing dual driving sources, and the driving assembly can realize both automatic control and manual control. The driving assembly includes a manual driving part and a fully automatic driving part, and the manual driving part is detachably connected to the fully automatic driving part.

When manual adjustment is required, the connecting ends of the screw rod 21 and the driving rod 311 are directly connected to the manual driving part respectively. And the manual driving part is separated from the fully automatic driving part, and the two are not related to each other. Furthermore, the electrical connection line of the position sensor on the moving assembly is still connected to the processor of the driving assembly, so as to realize accurate feedback under manual adjustment. At this time, the manual control of the movement assembly can be realized by manually adjusting the first manual adjustment part 100A and the second manual adjustment part 100B, and the marking ruler of the manual driving part can accurately and intuitively display the movement Condition.

Fully automatic drive:

When full-automatic circuit control is required, the connecting ends of the screw mandrel 21 and the driving rod 311 can be directly connected to the fully automatic driving part respectively. It is also possible to sequentially connect the screw rod 21 with the first manual adjustment part 100A and the first driving device 8; the drive rod 311 is sequentially connected with the second manual adjustment part 100B and the second The drive unit 9 is connected. The first driving device 8 , the second driving device 9 and the processor are electrically connected, and the processor is connected to the remote control system to realize fully automatic control of the linear and/or rotary motion of the moving assembly.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present invention can easily think of changes or Replacement should be covered within the protection scope of the present invention.

Claims (12)

1. An auxiliary motion device, characterized in that it includes a frame (1), a motion assembly and a drive assembly; the motion assembly is arranged on the frame (1), and the motion assembly is driven by the drive assembly to achieve a straight line and/or rotational movement; the driving assembly includes a manual driving part and a fully automatic driving part; wherein, the manual driving part is used to realize manual control of the moving assembly; the fully automatic driving part is used to realize the control of the Fully automatic control of the motion components described above.
2. The auxiliary movement device according to claim 1, characterized in that, the movement components include a linear movement component (2) and a rotary movement component (3), and the rotary movement component (3) is arranged on the linear movement On the component (2); the manual drive part is detachably connected to the fully automatic drive part; the frame (1) and the moving component are both made of nuclear magnetic compatible materials.
3. A kind of auxiliary movement device as claimed in claim 2, it is characterized in that, described fully automatic driving part comprises first driving device (8) and second driving device (9); Described first driving device (8) uses The linear motion component (2) is fully automatically driven to perform linear motion; the linear motion component (2) can drive the rotary motion component (3) to perform linear motion; the second drive device (9) is used for full-automatic The rotary motion component (3) is automatically driven to perform rotary motion, and the rotary motion component (3) can drive the optical fiber guide tube (4) to perform rotary motion.
4. The auxiliary exercise device according to claim 3, characterized in that, the manual driving part comprises a first manual adjustment part (100A) and a second manual adjustment part (100B); the first manual adjustment part ( 100A) is used to manually drive the linear motion component (2) to perform linear motion; the linear motion component (2) can drive the rotary motion component (3) to perform linear motion; the second manual adjustment part ( 100B) is used to manually drive the rotary motion component (3) to perform rotary motion, and the rotary motion component (3) can drive the optical fiber guide tube (4) to perform rotary motion.
5. The auxiliary exercise device according to claim 4, characterized in that, the first manual adjustment part (100A) is detachably connected to the first driving device (8); the second manual adjustment part ( 100B) is detachably connected to the second driving device (9).
6. An auxiliary movement device according to claim 5, characterized in that, the linear movement assembly (2) comprises a screw rod (21), a linear active movement part (22) and a linear driven movement part (23), the The linear active movement part (22) is connected with the screw mandrel (21);

   The rotary movement assembly (3) includes a driving wheel (31) and a driven wheel (32), and the driving wheel (31) and the driven wheel (32) are meshed with each other.
7. A kind of auxiliary movement device according to claim 6, characterized in that, a guide rail guide groove (24) is provided at the junction of the linear active movement part (22) and the linear driven movement part (23), so that The linear active movement part (22), the linear driven movement part (23) and the guide rail guide groove (24) are integrally formed.
8. A kind of auxiliary exercise device according to claim 7, characterized in that, the frame (1) comprises a fixed part (6), a guide part (7), a bottom cover (11) and a rear cover (12); The rear cover (12) is arranged on the rear side of the frame (1); the fixed part (6) is fixedly arranged on the front side of the frame (1), and the fixed part (6) is provided with a shaft The guide part (7) includes two guide rails (71), and the guide rails (71) are movably connected with the guide rail guide grooves (24).
9. An auxiliary movement device according to claim 7, characterized in that, a ring neck (231) is provided on the linear driven movement part (23); the driven wheel (32) is movably arranged on the ring neck within (231);

   The optical fiber guide (4) includes an optical fiber fixing part (41) and an optical fiber (42), the optical fiber fixing part (41) is detachably connected to the driven wheel (32), and the optical fiber (42) passes through Pass through the circular groove (5141) of the driven wheel (32), the through hole (230) and the through hole (60) of the linear driven moving part (23).
10. The auxiliary exercise device according to claim 7, wherein a position sensor is arranged on the exercise assembly.
11. A drive system for an auxiliary motion device according to any one of claims 1-10, characterized in that it includes a remote control system (10) and a robot, and the robot includes a communication module, a processing module and the auxiliary motion device , the remote control system (10) is electrically connected to the robot, and is used to control the movement of the fiber optic catheter (4) in the auxiliary movement device.
12. The method for controlling the drive system of an auxiliary motion device according to claim 11, characterized in that the operation of the drive assembly is controlled manually manually or remotely and fully automatically so as to drive the linear motion assembly (2) and the rotary motion Assembly (3) performs linear and/or rotary motion.

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