技术领域technical field
本发明及医疗器械领域，属于医学、机械、自动化交叉学科，具体涉及TRUS图像导航多通道前列腺近距离放射性粒子植入机器人。The invention and the field of medical devices belong to the interdisciplinary disciplines of medicine, machinery and automation, and specifically relate to a TRUS image navigation multi-channel prostate close-range radioactive particle implantation robot.
背景技术Background technique
近距离射性粒子植入具有靶向性强、无副作用、创伤小、疗效确切的特点，在国类外已成为治疗早期前列腺癌的标准手段。传统放射性治疗术是在手动超声的引导下，借助于固定在超声支架上的导向板，临床医生使用手动粒子植入器将20～120颗镍钛合金包裹的125I（144Gy）/103Pd（120Gy）粒子植入靶区部位，连续低剂量放射γ射线对肿瘤细胞进行杀死。当前国内外的粒子植入器多为单通道、手动执行，这使得粒子植入耗时长、粒子放置精准度不高，单通道穿刺前列腺时，前列腺腺体会产生较大的变形和位移问题，另外经直肠超生图像手动机构，由于人手的抖动致使实时采集的图像不清晰，也会影响术中实时导航的精度，而且以上的过程需要人手、眼睛、脑部高度一致配合，才能完成如此复杂精细的手术。Brachytherapy seed implantation has the characteristics of strong targeting, no side effects, less trauma, and definite curative effect. It has become a standard method for the treatment of early prostate cancer at home and abroad. Traditional radiotherapy is guided by manual ultrasound, with the help of a guide plate fixed on the ultrasound bracket, clinicians use a manual particle implanter to place 20 to 120 nickel-titanium alloy-wrapped 125I (144Gy)/103Pd (120Gy) Particles are implanted into the target area, and γ-rays are irradiated continuously at low doses to kill tumor cells. At present, most of the particle implanters at home and abroad are single-channel and manually executed, which makes the particle implantation time-consuming and the accuracy of particle placement is not high. When the single-channel punctures the prostate, the prostate gland will cause large deformation and displacement problems. In addition, the manual mechanism of the transrectal ultrasound image, due to the shaking of the human hand, the real-time collected image is not clear, which will also affect the accuracy of the real-time navigation during the operation, and the above process requires the highly consistent cooperation of the human hand, eyes, and brain to complete such a complex and delicate operation. surgery.
发明内容Contents of the invention
本发明为了克服手动图像导航前列腺近距离放射性粒子植入手术的缺陷，进而提供了TRUS图像导航多通道前列腺近距离放射性粒子植入机器人。In order to overcome the defects of the manual image-guided prostate close-range radioactive particle implantation operation, the present invention further provides a TRUS image-guided multi-channel prostate close-range radioactive particle implantation robot.
本发明为解决上述技术问题所采取的技术方案是：The technical scheme that the present invention takes for solving the problems of the technologies described above is:
本发明的TRUS图像导航多通道前列腺近距离放射性粒子植入机器人，其组成包括：机架、双向移动机构、位置调整机构、电动粒子植入机构、多通道穿刺机构和TRUS图像导航机构，所述机架上安装有双向移动机构，双向移动机构包括第一滑台，所述第一滑台上固接位置调整机构，所述双向移动机构还包括第二滑台，所述第二滑台上固接多通道穿刺机构，多通道穿刺机构包括多针环型适配器，多针环型适配器包括6×6中心距为5mm阵列针孔，可以根据术前计划在针孔上配备穿刺针的个数和配型位置，双向移动机构通过控制第一滑台、第二滑台运动实现位置调整机构、多通道穿刺机构沿针刺轴线双向直线运动，所述位置调整机构设有连接架，连接架下固设电动粒子植入机构，所述电动粒子植入机构下方设有TRUS图像导航机构，TRUS图像导航机构可以实时采集瘤边界和穿刺针，跟踪病灶点。The TRUS image-guided multi-channel prostate close-range radioactive particle implantation robot of the present invention comprises: a frame, a two-way movement mechanism, a position adjustment mechanism, an electric particle implantation mechanism, a multi-channel puncture mechanism and a TRUS image navigation mechanism. A two-way movement mechanism is installed on the frame, and the two-way movement mechanism includes a first slide table, and a position adjustment mechanism is fixed on the first slide table, and the two-way movement mechanism also includes a second slide table, and the second slide table Fixed multi-channel puncture mechanism, multi-channel puncture mechanism includes multi-needle ring adapter, multi-needle ring adapter includes 6×6 array pinholes with a center distance of 5mm, and the number of puncture needles can be equipped on the pinholes according to the preoperative plan and matching position, the two-way moving mechanism realizes the position adjustment mechanism and the multi-channel puncture mechanism to move linearly in two directions along the acupuncture axis by controlling the movement of the first slide table and the second slide table. An electrokinetic particle implantation mechanism is fixed, and a TRUS image navigation mechanism is installed under the electrokinetic particle implantation mechanism. The TRUS image navigation mechanism can collect tumor boundaries and puncture needles in real time, and track focus points.
上述方案的TRUS图像导航多通道前列腺近距离放射性粒子植入机器人，其结构特点为双向移动机构、位置调整机构配合使用可以实现电动粒子植入机构的外针调整到目标高度(初定位)，双向移动机构结合多通道穿刺机构，可以实现前列腺的肿瘤区域穿刺针的配置以及固定前列腺作用，电动粒子植入机构结合TRUS图像导航机构，通过图像反馈可以构成针刺针位置闭环控制，提高粒子植入的精准度。The TRUS image-navigated multi-channel prostate radioactive particle implantation robot in the above scheme has structural features such as a two-way movement mechanism and a position adjustment mechanism, which can realize the adjustment of the outer needle of the electric particle implantation mechanism to the target height (initial positioning). The mobile mechanism combined with the multi-channel puncture mechanism can realize the configuration of the puncture needle in the tumor area of the prostate and the fixation of the prostate. The electric particle implantation mechanism combined with the TRUS image navigation mechanism can form a closed-loop control of the position of the acupuncture needle through image feedback to improve particle implantation. the accuracy.
对方案进一步设计：为了更好地发挥双向移动机构的作用，所述双向移动机构包括U型机架一，其特征在于：U型机架一上固设轴向驱动电机一、轴向驱动电机二，所述轴向驱动电机一的电机轴固接第一丝杠，第一丝杠与第一滑台建立螺旋副连接，所述第一滑台还可固接位置调整机构的U型机架二，所述轴向驱动电机二的电机轴固接第二丝杠，所述第二丝杠与第二滑台建立螺旋副连接，第二滑台上还安装有铜套，所述铜套与第一丝杠建立滑动连接，铜套对第二滑台起支撑作用，所述第二滑台上还可固接多针穿刺机构的多针环型适配器。Further design of the scheme: In order to better play the role of the two-way moving mechanism, the two-way moving mechanism includes a U-shaped frame 1, which is characterized in that: the U-shaped frame 1 is fixed with an axial drive motor 1, and the axial drive motor 2. The motor shaft of the axial drive motor 1 is fixed to the first lead screw, and the first lead screw is connected with the first sliding table by a screw pair, and the first sliding table can also be fixed to the U-shaped machine of the position adjustment mechanism. Frame 2, the motor shaft of the axial drive motor 2 is fixedly connected to the second lead screw, and the second lead screw is connected with the second sliding table by a screw pair, and a copper sleeve is also installed on the second sliding table, and the copper sleeve is installed on the second sliding table. The sleeve establishes a sliding connection with the first lead screw, and the copper sleeve supports the second sliding table, on which the multi-needle ring adapter of the multi-needle puncture mechanism can also be fixedly connected.
对方案进一步设计：为了更好地发挥位置调整机构的作用，所述位置调整机构包括U型机架二，其特征在于：U型机架二上固设竖直方向减速电机，所述竖直方向减速电机的电机轴固接竖直丝杠，竖直丝杆与竖直滑台建立螺旋副连接，所述竖直滑台还固接三角架，所述三脚架上固设电机安装板，所述电机安装板上设有伺服电机，所述伺服电机通过同步齿形带传动连接有横向丝杆，横向丝杆与螺母建立螺旋副连接，所述螺母固接在连接架上，所述连接架还可以固接电动粒子植入机构的壳体。Further design of the scheme: in order to better play the role of the position adjustment mechanism, the position adjustment mechanism includes a U-shaped frame two, which is characterized in that: a vertical gear motor is fixed on the U-shaped frame two, and the vertical direction The motor shaft of the directional deceleration motor is fixedly connected to the vertical lead screw, and the vertical screw rod is connected with the vertical sliding table by a spiral pair. The vertical sliding table is also fixedly connected to the tripod, and the motor mounting plate is fixed on the tripod. The motor mounting plate is provided with a servo motor, and the servo motor is connected with a horizontal screw rod through a synchronous toothed belt transmission, and the horizontal screw rod and the nut are connected by a screw pair, and the nut is fixed on the connecting frame, and the connecting frame The housing of the electrokinetic particle implantation mechanism can also be fixedly connected.
对方案进一步设计：为了更好地发挥电动粒子植入机构的作用，所述的电动粒子植入机构包括型机架三，所述的U型机架三上安装有空心针驱进给电机、实心针驱动电机、空心针支撑导向架，所述的空心针进给电机还固接第四丝杠，第四丝杠与第四滑台建立螺旋副连接，所述的第四滑台还固接粒子库接收器，粒子库接收器上设有圆柱形弹性弹匣，粒子库接收器上还固设螺纹式空心针夹持器，通过螺纹可以装、卸空心针，所述粒子库接收器上还设有空心针旋转电机，空心针旋转电机输出轴固接齿轮一，齿轮一通过齿轮副连接齿轮二，齿轮二安装在螺纹式空心针夹持器上，螺纹式空心针夹持器上另一端安装有轴承，轴承固定在粒子库接收器中，所述的空心针和空心针支撑导向架建立滑动连接，空心针支撑导向架上还设有消毒，可以对空心针其消毒、起撑、导向作用，所述实心针驱动电机固接第三丝杠，第三丝杠与第三滑台建立螺旋副连接，所述的第四三滑台还固接实心针夹持器，实心针夹持器上还设有锁紧螺丝，通过锁紧螺丝可以装、卸实心针夹持器的实心针。Further design of the scheme: In order to better play the role of the electrokinetic particle implantation mechanism, the electrokinetic particle implantation mechanism includes a three-shaped frame, and the three U-shaped frame is equipped with a hollow needle-driven feeding motor, The solid needle drive motor and the hollow needle support guide frame, the hollow needle feed motor is also fixedly connected to the fourth lead screw, the fourth lead screw is connected with the fourth sliding table by a screw pair, and the fourth sliding table is also fixed Connect to the particle library receiver, the particle library receiver is provided with a cylindrical elastic magazine, the particle library receiver is also fixed with a threaded hollow needle holder, the hollow needle can be loaded and unloaded through the thread, and the particle library receiver There is also a hollow needle rotating motor on the top, the output shaft of the hollow needle rotating motor is fixedly connected to gear one, gear one is connected to gear two through a gear pair, and gear two is installed on the threaded hollow needle holder, and the threaded hollow needle holder The other end is equipped with a bearing, and the bearing is fixed in the receiver of the particle library. The hollow needle and the hollow needle support guide frame establish a sliding connection, and the hollow needle support guide frame is also provided with disinfection, which can sterilize and support the hollow needle. , guiding effect, the solid needle driving motor is fixedly connected to the third lead screw, the third lead screw is connected with the third sliding table to establish a spiral pair connection, and the fourth and third sliding tables are also fixedly connected to the solid needle holder, and the solid needle The holder is also provided with a locking screw, through which the solid needle of the solid needle holder can be loaded and unloaded.
对方案进一步设计：为了更好地发挥多通道穿刺机构的作用，所述的多通道穿刺机构包括多针环型适配器、网格导向模板和穿刺针，所述多针环型适配器包括基板，所述基板上设有针旋转驱动电机，所述针旋转驱动电机输出轴固接大齿轮，大齿轮与小齿轮建立齿轮副连接，所述小齿轮还与中齿轮建立齿轮副连接，中齿轮上固设针孔，所述针孔可以安装穿刺针，所述小齿轮和中齿轮通过6×6阵列安装在基板上，且都和基板建立相对转动连接关系，同时阵列相邻的两个小齿轮中心距为5mm，阵列相邻的两个中齿轮中心距也为5mm，中齿轮上的针孔也呈6×6中心距为5mm阵列，可以根据术前计划实施穿刺针的个数和配型位置，所述机架上还安装有6cm×6cm的网格导向模板，穿刺针外径可以通过网格孔，且网格孔的孔径和穿刺针外径公差为+0.01mm较好。Further design of the scheme: In order to better play the role of the multi-channel puncture mechanism, the multi-channel puncture mechanism includes a multi-needle ring adapter, a grid guide template and a puncture needle, and the multi-needle ring adapter includes a base plate, so The base plate is provided with a needle rotation driving motor, the output shaft of the needle rotation driving motor is fixedly connected to the large gear, the large gear is connected with the pinion gear, and the small gear is also connected with the middle gear, and the middle gear is fixed Pinholes are provided, and the pinholes can be equipped with puncture needles. The pinion gear and the middle gear are installed on the base plate through a 6×6 array, and both of them establish a relative rotational connection relationship with the base plate. At the same time, the center of the two adjacent pinion gears of the array The center distance between the two middle gears adjacent to the array is also 5mm, and the pinholes on the middle gear are also in a 6×6 array with a center distance of 5mm. The number of puncture needles and matching positions can be implemented according to the preoperative plan. A 6cm×6cm grid guide template is also installed on the frame, the outer diameter of the puncture needle can pass through the grid holes, and the tolerance between the aperture of the grid hole and the outer diameter of the puncture needle is preferably +0.01mm.
对方案进一步设计：为了更好地发挥TRUS图像导航机构的作用，所述TRUS图像导航机构包括探头线性驱动电机、探头回转驱动电机，所述探头线性驱动电机固接第五丝杠，第五丝杠与第五滑台建立螺旋副连接，所述第五滑台上设有U型橡胶托架，U型橡胶托架上安装超声探头，U型橡胶托架和第五滑台还可以相对转动，U型橡胶托架上还设有锁紧螺丝，通过锁紧螺丝可以装、卸U型橡胶托架上的超声探头，所述超声探头的前端还设有探头支撑架，可以防止超声探头运动时产生姿态偏转，所述探头回转驱动电机固接导杆，导杆上设有直线轴承，直线轴承和导杆建立滑动连接，直线轴承也安装在第五滑台上，直线轴承左侧还装有圆柱小齿轮，U型橡胶托架上还安装缺口大齿轮，所述圆柱小齿轮和缺口大齿轮建立齿轮副连接，探头回转驱动电机通过齿轮副传递，可以实现U型橡胶托架上超声探头回转运动。Further design of the scheme: In order to better play the role of the TRUS image navigation mechanism, the TRUS image navigation mechanism includes a probe linear drive motor and a probe rotary drive motor, and the probe linear drive motor is fixedly connected to the fifth lead screw, the fifth lead screw The bar is connected with the fifth sliding table in a spiral pair, and the fifth sliding table is provided with a U-shaped rubber bracket, and an ultrasonic probe is installed on the U-shaped rubber bracket, and the U-shaped rubber bracket and the fifth sliding table can also rotate relatively , the U-shaped rubber bracket is also provided with a locking screw, through which the ultrasonic probe on the U-shaped rubber bracket can be loaded and unloaded, and the front end of the ultrasonic probe is also provided with a probe support frame, which can prevent the movement of the ultrasonic probe When the posture deflection occurs, the probe rotation drive motor is fixedly connected to the guide rod, and the guide rod is provided with a linear bearing. The linear bearing and the guide rod establish a sliding connection. The linear bearing is also installed on the fifth sliding table. There is a cylindrical pinion, and a notched large gear is installed on the U-shaped rubber bracket. The cylindrical pinion and the notched large gear establish a gear pair connection, and the probe rotation drive motor is transmitted through the gear pair, which can realize the ultrasonic probe on the U-shaped rubber bracket. rotary motion.
与现有技术相比，本发明有以下技术效果和优点：Compared with prior art, the present invention has following technical effect and advantage:
本发明采用双向移动机构、位置调整机构、电动粒子植入机构、多通道穿刺机构、TRUS图像导航机构配合使用，可以实现基于图像反馈精准粒子放置的闭环控制，采用多通道穿刺机构可以减少穿刺针的穿刺时间，另外多针穿刺前列腺时，可以有效的减少前列腺腺体沿针轴垂直面的变形和位移，从而提高粒子放置的位置精度。The present invention adopts two-way movement mechanism, position adjustment mechanism, electric particle implantation mechanism, multi-channel puncture mechanism and TRUS image navigation mechanism to realize closed-loop control of accurate particle placement based on image feedback, and multi-channel puncture mechanism can reduce puncture needles In addition, when multiple needles puncture the prostate, it can effectively reduce the deformation and displacement of the prostate gland along the vertical plane of the needle axis, thereby improving the position accuracy of particle placement.
附图说明Description of drawings
图1整体结构示意图。Figure 1 Schematic diagram of the overall structure.
图2双向移动机构结构示意图。Fig. 2 Schematic diagram of the structure of the two-way moving mechanism.
图3位置调整机构结构示意图。Figure 3 Schematic diagram of the structure of the position adjustment mechanism.
图4电动粒子植入机构结构示意图。Fig. 4 Schematic diagram of the structure of the electrokinetic particle implantation mechanism.
图5电动粒子植入机构局部结构示意图。Fig. 5 Schematic diagram of the partial structure of the electrokinetic particle implantation mechanism.
图6多通道穿刺机构结构示意图。Fig. 6 Schematic diagram of the structure of the multi-channel puncture mechanism.
图7多通道穿刺机构结构侧视图。Figure 7 is a side view of the structure of the multi-channel puncture mechanism.
图8TRUS图像导航机构结构示意图。Fig. 8 Schematic diagram of structure of TRUS image navigation mechanism.
图中1.机架，2.双向移动机构，3.位置调整机构，4.电动粒子植入机构，5.多通道穿刺机构，6.TRUS图像导航机构，2-1.第一滑台，2-2.第二滑台，2-3.轴向驱动电机一，2-4.光杆，2-5.铜套，2-6.轴向驱动电机二，2-7.U型机架一，2-8.第一丝杠，2-9.第二丝杠，3-1.连接架，3-2.U型机架二，3-3.竖直丝杠，3-4.竖直滑台，3-5.三角架，3-6.横向丝杆，3-7.电机安装板，3-8.同步齿形带，3-9.伺服电机，3-10.竖直方向减速电机，4-1.实心针驱动电机，4-2.第三丝杠，4-3.第三滑台，4-4.实心针夹持器，4-5.锁紧螺丝，4-6.实心针，4-7.空心针，4-8.消毒器，4-9.空心针进给电机，4-10.U型机架三，4-11.第四丝杠，4-12.空心针支撑导向架，4-13.第四滑台，4-14.圆柱形弹性弹匣，4-15.弹匣卡槽，4-16.轴承，4-17.粒子库接收器，4-18.齿轮二，4-19.空心针旋转电机，4-20.螺纹式空心针夹持器，4-21.齿轮一，5-1.多针环型适配器，5-2.多针环型适配器，5-3.网格导向模板，5-4.穿刺针，5-1-1.针旋转驱动电机，5-1-2.大齿轮，5-1-3.小齿轮，5-1-4.中齿轮，5-1-5.针孔，5-1-6.基板，6-1.探头线性驱动电机，6-2.缺口大齿轮，6-3.U型橡胶托架，6-4.第五丝杠，6-5.超声探头，6-6.探头回转驱动电机，6-7.圆柱小齿轮，6-8.直线轴承，6-9.第五滑台，6-10.锁紧螺丝，6-11.导杆，6-12.探头支撑架。In the figure 1. Rack, 2. Two-way moving mechanism, 3. Position adjustment mechanism, 4. Electric particle implantation mechanism, 5. Multi-channel puncture mechanism, 6. TRUS image navigation mechanism, 2-1. The first slide table, 2-2. Second sliding table, 2-3. Axial drive motor 1, 2-4. Polished rod, 2-5. Copper sleeve, 2-6. Axial drive motor 2, 2-7. U-shaped frame One, 2-8. The first lead screw, 2-9. The second lead screw, 3-1. Connecting frame, 3-2. U-shaped frame 2, 3-3. Vertical lead screw, 3-4. Vertical slide, 3-5. Tripod, 3-6. Horizontal screw, 3-7. Motor mounting plate, 3-8. Synchronous toothed belt, 3-9. Servo motor, 3-10. Vertical Directional deceleration motor, 4-1. Solid needle drive motor, 4-2. Third lead screw, 4-3. Third slide table, 4-4. Solid needle holder, 4-5. Locking screw, 4 -6. Solid needle, 4-7. Hollow needle, 4-8. Sterilizer, 4-9. Hollow needle feed motor, 4-10. U-shaped frame three, 4-11. Fourth lead screw, 4 -12. Hollow needle support guide frame, 4-13. Fourth sliding table, 4-14. Cylindrical elastic magazine, 4-15. Magazine slot, 4-16. Bearing, 4-17. Particle library receiving Device, 4-18. Gear two, 4-19. Hollow needle rotating motor, 4-20. Threaded hollow needle holder, 4-21. Gear one, 5-1. Multi-needle ring adapter, 5-2 .Multi-needle ring adapter, 5-3. Grid guide template, 5-4. Puncture needle, 5-1-1. Needle rotation drive motor, 5-1-2. Large gear, 5-1-3. Small Gear, 5-1-4. Medium gear, 5-1-5. Pinhole, 5-1-6. Base plate, 6-1. Probe linear drive motor, 6-2. Notched large gear, 6-3.U Type rubber bracket, 6-4. Fifth lead screw, 6-5. Ultrasonic probe, 6-6. Probe rotary drive motor, 6-7. Cylindrical pinion, 6-8. Linear bearing, 6-9. Five slides, 6-10. locking screw, 6-11. guide rod, 6-12. probe support frame.
具体实施方式detailed description
下面结合附图和具体实施实例对本发明的TRUS图像导航多通道前列腺近距离放射性粒子植入机器人进行详细说明。The TRUS image-guided multi-channel prostate proximity radioactive seed implantation robot of the present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation examples.
参见附图1、附图2、附图3，本发明的TRUS图像导航多通道前列腺近距离放射性粒子植入机器人，其组成包括：机架1、双向移动机构2、位置调整机构3、电动粒子植入机构4、多通道穿刺机构5和TRUS图像导航机构6，所述机架1上安装有双向移动机构2，双向移动机构2包括第一滑台2-1，所述第一滑台2-1上固接位置调整机构3，所述双向移动机构2还包括第二滑台2-2，所述第二滑台2-2上固接多通道穿刺机构5，多通道穿刺机构5包括多针环型适配器5-1，多针环型适配器5-1包括6×6中心距为5mm阵列针孔5-1-5，可以根据术前计划在针孔5-1-5上配备穿刺针5-4的个数和配型位置，双向移动机构2通过控制第一滑台2-1、第二滑台2-2运动实现位置调整机构3、多通道穿刺机构5沿针刺轴线双向直线运动，所述位置调整机构3设有连接架3-1，连接架3-1下固设电动粒子植入机构4，所述电动粒子植入机构4下方设有TRUS图像导航机构6，TRUS图像导航机构6可以实时采集瘤边界和穿刺针5-4，跟踪病灶点。Referring to accompanying drawing 1, accompanying drawing 2, accompanying drawing 3, the TRUS image navigation multi-channel prostate close-range radioactive particle implantation robot of the present invention, its composition comprises: Frame 1, two-way moving mechanism 2, position adjusting mechanism 3, electric particle Implantation mechanism 4, multi-channel puncture mechanism 5 and TRUS image navigation mechanism 6, two-way movement mechanism 2 is installed on the described frame 1, and two-way movement mechanism 2 comprises the first sliding platform 2-1, and described first sliding platform 2 The position adjustment mechanism 3 is fixed on the -1, and the two-way moving mechanism 2 also includes a second sliding platform 2-2, and the multi-channel puncturing mechanism 5 is fixed on the second sliding platform 2-2, and the multi-channel puncturing mechanism 5 includes The multi-needle ring adapter 5-1, the multi-needle ring adapter 5-1 includes 6×6 array pinholes 5-1-5 with a center distance of 5mm, and can be equipped with punctures on the pinholes 5-1-5 according to the preoperative plan The number of needles 5-4 and the matching position, the two-way moving mechanism 2 realizes the position adjustment mechanism 3 and the multi-channel puncture mechanism 5 along the acupuncture axis by controlling the movement of the first sliding table 2-1 and the second sliding table 2-2 Linear movement, the position adjustment mechanism 3 is provided with a connecting frame 3-1, an electrokinetic particle implanting mechanism 4 is fixed under the connecting frame 3-1, and a TRUS image navigation mechanism 6 is arranged under the electrokinetic particle implanting mechanism 4. TRUS The image navigation mechanism 6 can collect the tumor boundary and the puncture needle 5-4 in real time, and track the lesion point.
参见附图1、附图4、附图5，所述的电动粒子植入机构4包括U型机架三4-10，所述的U型机架三4-10上安装有空心针驱进给电机4-9、实心针驱动电机4-1、空心针支撑导向架4-12，所述的空心针进给电机4-9还固接第四丝杠4-11，第四丝杠4-11与第四滑台4-13建立螺旋副连接，所述的第四滑台4-13还固接粒子库接收器4-17，粒子库接收器4-17上设有圆柱形弹性弹匣4-14，粒子库接收器4-17上还固设螺纹式空心针夹持器4-20，通过螺纹可以装、卸空心针4-7，所述粒子库接收器4-17上还设有空心针旋转电机4-20，空心针旋转电机4-20输出轴固接齿轮一4-21，齿轮一4-21通过齿轮副连接齿轮二4-18，齿轮二4-18安装在螺纹式空心针夹持器4-20上，螺纹式空心针夹持器4-20上另一端安装有轴承4-16，轴承4-16固定在粒子库接收器4-17中，所述的空心针4-7和空心针支撑导向架4-12建立滑动连接，空心针支撑导向架4-12上还设有消毒4-8，可以对空心针4-7其消毒、起撑、导向作用，所述实心针驱动电机4-1固接第三丝杠4-2，第三丝杠4-2与第三滑台4-3建立螺旋副连接，所述的第四三滑台4-3还固接实心针夹持器4-4，实心针夹持器4-4上还设有锁紧螺丝4-5，通过锁紧螺丝4-5可以装、卸实心针夹持器4-4的实心针4-6。Referring to accompanying drawings 1, 4, and 5, the electrokinetic particle implantation mechanism 4 includes a U-shaped frame 3 4-10, and a hollow needle drive is installed on the U-shaped frame 3 4-10. Feed motor 4-9, solid needle drive motor 4-1, hollow needle support guide frame 4-12, described hollow needle feed motor 4-9 is also fixedly connected with the fourth lead screw 4-11, the fourth lead screw 4 -11 establishes a helical connection with the fourth sliding table 4-13, the fourth sliding table 4-13 is also fixedly connected to the particle storehouse receiver 4-17, and the particle storehouse receiver 4-17 is provided with a cylindrical elastic spring Cassette 4-14, the threaded hollow needle holder 4-20 is also fixed on the particle storehouse receiver 4-17, and the hollow needle 4-7 can be loaded and unloaded through the thread, and the particle storehouse receiver 4-17 is also There is a hollow needle rotating motor 4-20, the output shaft of the hollow needle rotating motor 4-20 is fixedly connected to the first gear 4-21, the first gear 4-21 is connected to the second gear 4-18 through the gear pair, and the second gear 4-18 is installed on the thread On the type hollow needle holder 4-20, the other end of the threaded type hollow needle holder 4-20 is equipped with a bearing 4-16, and the bearing 4-16 is fixed in the particle library receiver 4-17, and the hollow The needle 4-7 and the hollow needle support guide frame 4-12 establish a sliding connection, and the hollow needle support guide frame 4-12 is also provided with a disinfection 4-8, which can disinfect, support and guide the hollow needle 4-7. The solid needle drive motor 4-1 is fixedly connected to the third lead screw 4-2, and the third lead screw 4-2 establishes a screw pair connection with the third slide table 4-3, and the fourth and third slide table 4-3 The solid needle holder 4-4 is also fixedly connected, and the solid needle holder 4-4 is also provided with a locking screw 4-5, and the solid needle holder 4-4 can be loaded and unloaded by the locking screw 4-5 4-6 of solid needles.
参见附图1、附图6、附图7，所述的多通道穿刺机构5包括多针环型适配器5-1、网格导向模板5-2和穿刺针5-4，所述多针环型适配器5-1包括基板5-1-6，所述基板5-1-6上设有针旋转驱动电机5-1-1，所述针旋转驱动电机5-1-1输出轴固接大齿轮5-1-2，大齿轮5-1-2与小齿轮5-1-3建立齿轮副连接，所述小齿轮5-1-3还与中齿轮5-1-4建立齿轮副连接，中齿轮5-1-4上固设针孔5-1-5，所述针孔5-1-5可以安装穿刺针5-4，所述小齿轮5-1-3和中齿轮5-1-4通过6×6阵列安装在基板5-1-6上，且都和基板5-1-6建立相对转动连接关系，同时阵列相邻的两个小齿轮5-1-3中心距为5mm，阵列相邻的两个中齿轮5-1-4中心距也为5mm，中齿轮5-1-4上的针孔5-1-5也呈6×6中心距为5mm阵列，可以根据术前计划实施穿刺针5-4的个数和配型位置，所述机架1上还安装有6cm×6cm的网格导向模板5-2，穿刺针5-4外径可以通过网格孔5-3，且网格孔5-3的孔径和穿刺针5-4外径公差为+0.01mm较好。Referring to accompanying drawing 1, accompanying drawing 6, accompanying drawing 7, described multi-channel puncture mechanism 5 comprises multi-needle ring adapter 5-1, grid guide template 5-2 and puncture needle 5-4, described multi-needle ring The type adapter 5-1 includes a base plate 5-1-6, and the base plate 5-1-6 is provided with a needle rotation drive motor 5-1-1, and the output shaft of the needle rotation drive motor 5-1-1 is fixedly connected to a large The gear 5-1-2, the large gear 5-1-2 establishes a gear pair connection with the pinion 5-1-3, and the small gear 5-1-3 also establishes a gear pair connection with the middle gear 5-1-4, A pinhole 5-1-5 is fixed on the middle gear 5-1-4, the pinhole 5-1-5 can be equipped with a puncture needle 5-4, the pinion 5-1-3 and the middle gear 5-1 -4 is installed on the base plate 5-1-6 through a 6×6 array, and establishes a relative rotational connection relationship with the base plate 5-1-6, and at the same time, the center-to-center distance of two adjacent pinion gears 5-1-3 in the array is 5mm , the center distance between the two middle gears 5-1-4 adjacent to the array is also 5mm, and the pinholes 5-1-5 on the middle gear 5-1-4 are also in a 6×6 array with a center distance of 5mm, which can be obtained according to the technique The number and matching position of the puncture needle 5-4 are planned to be implemented before, and a grid guide template 5-2 of 6cm×6cm is also installed on the frame 1, and the outer diameter of the puncture needle 5-4 can pass through the grid hole 5 -3, and the tolerance of the aperture of the grid hole 5-3 and the outer diameter of the puncture needle 5-4 is preferably +0.01mm.
参见附图1、附图8，所述TRUS图像导航机构6包括探头线性驱动电机6-1，探头回转驱动电机6-6，所述探头线性驱动电机6-1固接第五丝杠6-4，第五丝杠6-4与第五滑台6-9建立螺旋副连接，所述第五滑台6-9上设有U型橡胶托架6-3，U型橡胶托架6-3上安装超声探头6-5，U型橡胶托架6-3和第五滑台6-9还可以相对转动，U型橡胶托架6-3上还设有锁紧螺丝6-10，通过锁紧螺丝6-10可以装、卸U型橡胶托架6-3上的超声探头6-5，所述超声探头6-5的前端还设有探头支撑架6-12，可以防止超声探头6-5运动时产生姿态偏转，所述探头回转驱动电机6-6固接导杆6-11，导杆6-11上设有直线轴承6-8，直线轴承6-8和导杆6-11建立滑动连接，直线轴承6-8也安装在第五滑台6-9上，直线轴承6-8左侧还装有圆柱小齿轮6-7，U型橡胶托架6-3上还安装缺口大齿轮6-2，所述圆柱小齿轮6-7和缺口大齿轮6-2建立齿轮副连接，探头回转驱动电机6-6通过齿轮副传递，可以实现U型橡胶托架6-3上超声探头6-5回转运动。Referring to accompanying drawings 1 and 8, the TRUS image navigation mechanism 6 includes a probe linear drive motor 6-1, a probe rotary drive motor 6-6, and the probe linear drive motor 6-1 is fixedly connected to the fifth lead screw 6- 4. The fifth lead screw 6-4 establishes a spiral connection with the fifth slide table 6-9, and the fifth slide table 6-9 is provided with a U-shaped rubber bracket 6-3, and the U-shaped rubber bracket 6- Ultrasonic probe 6-5 is installed on 3, and U-shaped rubber bracket 6-3 and the fifth slide table 6-9 can also rotate relatively, and U-shaped rubber bracket 6-3 is also provided with locking screw 6-10, by The locking screw 6-10 can load and unload the ultrasonic probe 6-5 on the U-shaped rubber bracket 6-3, and the front end of the ultrasonic probe 6-5 is also provided with a probe support frame 6-12, which can prevent the ultrasonic probe 6 from -5 Attitude deflection occurs during movement, the probe rotary drive motor 6-6 is fixedly connected to the guide rod 6-11, and the guide rod 6-11 is provided with a linear bearing 6-8, a linear bearing 6-8 and a guide rod 6-11 Establish a sliding connection, the linear bearing 6-8 is also installed on the fifth slide table 6-9, the cylindrical pinion 6-7 is also installed on the left side of the linear bearing 6-8, and a gap is also installed on the U-shaped rubber bracket 6-3 The large gear 6-2, the cylindrical pinion 6-7 and the notched large gear 6-2 establish a gear pair connection, and the probe rotation drive motor 6-6 is transmitted through the gear pair, so that the U-shaped rubber bracket 6-3 can realize ultrasonic The probe 6-5 rotates.
下面结合附图对本发明的TRUS图像导航多通道前列腺近距离放射性粒子植入机器人工作方式介绍如下：The working mode of the TRUS image navigation multi-channel prostate short-range radioactive particle implantation robot of the present invention is introduced below in conjunction with the accompanying drawings:
参见附图1、附图4、附图5，所述的电动粒子植入机构4包括U型机架三4-10，所述的U型机架三4-10上安装有空心针驱进给电机4-9、实心针驱动电机4-1、空心针支撑导向架4-12，所述的空心针进给电机4-9还固接第四丝杠4-11，第四丝杠4-11与第四滑台4-13建立螺旋副连接，所述的第四滑台4-13还固接粒子库接收器4-17，粒子库接收器4-17上设有圆柱形弹性弹匣4-14，粒子库接收器4-17上还固设螺纹式空心针夹持器4-20，通过螺纹可以装、卸空心针4-7，所述粒子库接收器4-17上还设有空心针旋转电机4-20，空心针旋转电机4-20输出轴固接齿轮一4-21，齿轮一4-21通过齿轮副连接齿轮二4-18，齿轮二4-18安装在螺纹式空心针夹持器4-20上，螺纹式空心针夹持器4-20上另一端安装有轴承4-16，轴承4-16固定在粒子库接收器4-17中，所述的空心针4-7和空心针支撑导向架4-12建立滑动连接，空心针支撑导向架4-12上还设有消毒4-8，可以对空心针4-7其消毒、起撑、导向作用，所述实心针驱动电机4-1固接第三丝杠4-2，第三丝杠4-2与第三滑台4-3建立螺旋副连接，所述的第四三滑台4-3还固接实心针夹持器4-4，实心针夹持器4-4上还设有锁紧螺丝4-5，通过锁紧螺丝4-5可以装、卸实心针夹持器4-4的实心针4-6。Referring to accompanying drawings 1, 4, and 5, the electrokinetic particle implantation mechanism 4 includes a U-shaped frame 3 4-10, and a hollow needle drive is installed on the U-shaped frame 3 4-10. Feed motor 4-9, solid needle drive motor 4-1, hollow needle support guide frame 4-12, described hollow needle feed motor 4-9 is also fixedly connected with the fourth lead screw 4-11, the fourth lead screw 4 -11 establishes a helical connection with the fourth sliding table 4-13, the fourth sliding table 4-13 is also fixedly connected to the particle storehouse receiver 4-17, and the particle storehouse receiver 4-17 is provided with a cylindrical elastic spring Cassette 4-14, the threaded hollow needle holder 4-20 is also fixed on the particle storehouse receiver 4-17, and the hollow needle 4-7 can be loaded and unloaded through the thread, and the particle storehouse receiver 4-17 is also There is a hollow needle rotating motor 4-20, the output shaft of the hollow needle rotating motor 4-20 is fixedly connected to the first gear 4-21, the first gear 4-21 is connected to the second gear 4-18 through the gear pair, and the second gear 4-18 is installed on the thread On the type hollow needle holder 4-20, the other end of the threaded type hollow needle holder 4-20 is equipped with a bearing 4-16, and the bearing 4-16 is fixed in the particle library receiver 4-17, and the hollow The needle 4-7 and the hollow needle support guide frame 4-12 establish a sliding connection, and the hollow needle support guide frame 4-12 is also provided with a disinfection 4-8, which can disinfect, support and guide the hollow needle 4-7. The solid needle drive motor 4-1 is fixedly connected to the third lead screw 4-2, and the third lead screw 4-2 establishes a screw pair connection with the third slide table 4-3, and the fourth and third slide table 4-3 The solid needle holder 4-4 is also fixedly connected, and the solid needle holder 4-4 is also provided with a locking screw 4-5, and the solid needle holder 4-4 can be loaded and unloaded by the locking screw 4-5 4-6 of solid needles.
初定位运动：当轴向驱动电机一2-3旋转时，带动第一丝杠2-8作回转运动，丝杠将回转运动转换为第一滑台2-1的直线运动，从而实现电动粒子植入机构4轴向初定位，当竖直方向减速电机3-10旋转时，带动竖直丝杠3-3作回转运动，丝杠将回转运动转换为竖直滑台3-4的直线运动，从而实现电动粒子植入机构4竖直方向初定位，当伺服电机3-9旋转时，通过同步齿形带3-8传动带动横向丝杆3-6作回转运动，杠将回转运动转换为连接架3-1的直线运动，从而实现电动粒子植入机构4前后方向初定位，联动控制双向移动机构2、位置调整机构3和粒子植入机构4，可以实现精准的粒子放置过程。Initial positioning movement: when the axial drive motor 1-2-3 rotates, it drives the first lead screw 2-8 to make a rotary motion, and the lead screw converts the rotary motion into the linear motion of the first sliding table 2-1, thereby realizing the electric particle The implantation mechanism 4 is initially positioned in the axial direction. When the vertical reduction motor 3-10 rotates, it drives the vertical screw 3-3 to make a rotary motion, and the screw converts the rotary motion into the linear motion of the vertical slide 3-4. , so as to realize the initial positioning of the electric particle implantation mechanism 4 in the vertical direction. When the servo motor 3-9 rotates, the horizontal screw rod 3-6 is driven by the synchronous toothed belt 3-8 to make a rotary motion, and the bar converts the rotary motion to The linear movement of the connecting frame 3-1 realizes the initial positioning of the electric particle implantation mechanism 4 in the front and back directions, and the linkage control of the bidirectional movement mechanism 2, the position adjustment mechanism 3 and the particle implantation mechanism 4 can realize the precise particle placement process.
粒子植入运动：当空心针进给电机4-9进行旋转时，带动第四丝杠4-11作回转运动，丝杠将回转运动转换为第四滑台4-13的直线运动，从而实现空心针4-7的定位，当空心针旋转电机4-20进行旋转时，通过齿轮副传动实现空心针4-7旋转，联动时序控制空心针进给电机4-9、空心针旋转电机4-20可以实现柔性空心针实现曲线路径穿刺，以此可以绕过障碍穿刺，当实心针驱动电机4-1进行旋转时，带动第三丝杠4-2回转运动，丝杠将回转运动转换为第三滑台4-3的直线运动，从而实现实心针4-6的定位，联动时序控制空心针进给电机4-8、空心针旋转电机4-20、实心针驱动电机4-1，可以实现曲线路径的粒子植入过程，通过电机细分控制可以实现内针空心针进给电机4-8、空心针旋转电机4-20、实心针驱动电机4-1的微调，从而达到较高的粒子植入放置精度。Particle implantation movement: when the hollow needle feed motor 4-9 rotates, it drives the fourth screw 4-11 to make a rotary motion, and the screw converts the rotary motion into the linear motion of the fourth sliding table 4-13, thereby realizing The positioning of the hollow needle 4-7, when the hollow needle rotating motor 4-20 rotates, the hollow needle 4-7 is rotated through the transmission of the gear pair, and the linkage timing controls the hollow needle feeding motor 4-9 and the hollow needle rotating motor 4- 20 can realize the puncture of the curved path by the flexible hollow needle, so that the puncture can bypass obstacles. When the solid needle drives the motor 4-1 to rotate, it drives the third lead screw 4-2 to rotate, and the lead screw converts the rotary motion into the first The linear movement of the three sliding tables 4-3, so as to realize the positioning of the solid needle 4-6, and the linkage sequential control of the hollow needle feed motor 4-8, the hollow needle rotation motor 4-20, and the solid needle drive motor 4-1, can realize During the particle implantation process of the curved path, fine-tuning of the inner needle hollow needle feed motor 4-8, the hollow needle rotation motor 4-20, and the solid needle drive motor 4-1 can be realized through motor subdivision control, so as to achieve higher particle size. Implant placement accuracy.
多针穿刺运动：当轴向驱动电机二2-6旋转时，带动第二丝杠2-9作回转运动，丝杠将回转运动转换为第二滑台2-2的直线运动，从而实现多通道穿刺机构5的穿刺针5-4轴向定位，当针旋转驱动电机5-1-1旋转时，通过大齿轮5-1-2、小齿轮5-1-3和中齿轮5-1-4这2级减速比传递，带动小齿轮5-1-3上固接的穿刺针5-4作旋转运动，联动时序控制轴向驱动电机二2-6、针旋转驱动电机5-1-1可以实现多穿刺针5-4的稳定穿刺过程。Multi-needle puncture movement: when the axial drive motor 2-6 rotates, it drives the second screw 2-9 to make a rotary motion, and the screw converts the rotary motion into the linear motion of the second sliding table 2-2, thereby realizing multiple needles. The puncture needle 5-4 of the channel puncture mechanism 5 is axially positioned, and when the needle rotation drives the motor 5-1-1 to rotate, the large gear 5-1-2, the pinion gear 5-1-3 and the middle gear 5-1- 4 The 2-stage deceleration ratio transmission drives the puncture needle 5-4 fixedly connected to the pinion 5-1-3 to rotate, and the linkage sequence controls the axial drive motor 2-6 and the needle rotation drive motor 5-1-1 A stable puncture process with multiple puncture needles 5-4 can be realized.
本实施方式只是对本专利的示例性说明，并不限定它的保护范围，本领域技术人员还可以对其局部进行改变，只要没有超出本专利的精神实质，都在本专利的保护范围内。This embodiment is only an exemplary description of this patent, and does not limit its protection scope. Those skilled in the art can also make partial changes to it, as long as it does not exceed the spirit and essence of this patent, all within the protection scope of this patent.
| Application Number | Priority Date | Filing Date | Title |
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| CN201610062407.6ACN105727431B (en) | 2016-01-29 | 2016-01-29 | TRUS image-guidance multichannel prostate short distance radioactive prospecting instruments robot |
| Application Number | Priority Date | Filing Date | Title |
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| CN201610062407.6ACN105727431B (en) | 2016-01-29 | 2016-01-29 | TRUS image-guidance multichannel prostate short distance radioactive prospecting instruments robot |
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| CN105727431Atrue CN105727431A (en) | 2016-07-06 |
| CN105727431B CN105727431B (en) | 2018-11-13 |
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| CN201610062407.6AExpired - Fee RelatedCN105727431B (en) | 2016-01-29 | 2016-01-29 | TRUS image-guidance multichannel prostate short distance radioactive prospecting instruments robot |
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