技术领域technical field
本发明属于医疗器械领域，特别是涉及一种前列腺全方位近距离粒子植入机器人。The invention belongs to the field of medical devices, in particular to a prostate omnidirectional close-range particle implantation robot.
背景技术Background technique
相关资料表明，前列腺癌是目前男性常见的恶性肿瘤之一。在全世界范围内，前列腺癌的发病率和致死率逐年上升，且患者趋于年轻化，是威胁人类健康的重要疾病。放射性粒子植入治疗具有创伤小、治疗块、副作用少和术后并发症发生率低等优点，目前已经成为治疗前列腺癌的主要方法。放射性粒子植入治疗是在超声等影像设备的引导下，采用专用的粒子植入装置将放射性粒子经皮肤植入到目标器官的靶向区域。Relevant data show that prostate cancer is one of the most common malignant tumors in men. Worldwide, the incidence and mortality of prostate cancer are increasing year by year, and the patients tend to be younger. It is an important disease that threatens human health. Radioactive seed implantation has the advantages of small trauma, treatment block, less side effects and low incidence of postoperative complications, and has become the main method for the treatment of prostate cancer. Radioactive seed implantation therapy uses a special seed implantation device to implant radioactive seeds percutaneously into the targeted area of the target organ under the guidance of ultrasound and other imaging equipment.
目前在临床上普遍采用的粒子植入方法，是在手动超声引导下，借助于安装在超声上的导向板，临床医生大多凭借经验手动完成粒子植入过程，而每次手术需要植入上百颗放射性粒子。手术过程中医生劳动强度大，效率低，手动操作的定位精度也很难保证。同时由于患者身体的移动、前列腺的体位运动和组织水肿变形等原因，在术中难以精确确定病灶点。治疗结果主要依赖于医生的个人经验和水平，易对患者造成伤害并导致治疗效率的降低。At present, the commonly used particle implantation method in clinical practice is under the guidance of manual ultrasound, with the help of a guide plate installed on the ultrasound. radioactive particles. During the operation, doctors have high labor intensity and low efficiency, and it is difficult to guarantee the positioning accuracy of manual operation. At the same time, due to the movement of the patient's body, the posture movement of the prostate, and tissue edema and deformation, it is difficult to accurately determine the lesion point during the operation. The treatment results mainly depend on the doctor's personal experience and level, which is easy to cause harm to patients and lead to a reduction in treatment efficiency.
CN104548328A公开了一种微创局部放疗机器人装置，该装置只涉及对超声波探头自转和进给运动调整，在进行前列腺活检或者前列腺粒子植入手术过程中，还需要医生通过手持活检枪或者粒子植入装置完成手术。其水平旋转及俯仰调整机构与末端执行机构之间的传动距离长，水平旋转机构采用涡轮蜗杆传动，易影响定位精度。CN104548328A discloses a robot device for minimally invasive local radiotherapy. This device only involves the adjustment of the rotation and feed movement of the ultrasonic probe. During the prostate biopsy or prostate particle implantation operation, the doctor also needs to hold a biopsy gun or particle implantation. The device completes the procedure. The transmission distance between the horizontal rotation and pitch adjustment mechanism and the end actuator is long, and the horizontal rotation mechanism adopts worm gear transmission, which easily affects the positioning accuracy.
CN103919577A公开了一种悬臂式前列腺活检机器人，该装置采用复合平行四边形机构，保证了执行末端始终处于水平状态。但是该机器人只有三个自由度，因此只能采用水平式进针，限制了进针的角度。CN103919577A discloses a cantilever prostate biopsy robot, which adopts a composite parallelogram mechanism to ensure that the execution end is always in a horizontal state. However, the robot has only three degrees of freedom, so it can only use horizontal needle insertion, which limits the angle of needle insertion.
发明内容Contents of the invention
本发明要解决的技术问题：为克服在传统粒子植入手术过程中医生的疲劳操作，手动操作的定位精度和稳定性低，治疗过程中对医生个人经验的依赖的缺陷，从而提供了一种前列腺全方位近距离粒子植入机器人。The technical problem to be solved by the present invention: In order to overcome the defects of the fatigue operation of the doctor during the traditional particle implantation operation, the low positioning accuracy and stability of the manual operation, and the dependence on the personal experience of the doctor during the treatment process, a kind of Prostate omnidirectional close-range particle implantation robot.
本发明的一种前列腺全方位近距离粒子植入机器人，它包含了位置调整机构、十字关节姿态调整机构、超声图像导航模块、粒子植入模块、手术台车，其特征在于：所述的十字关节姿态调整机构包括了伺服电机I、电机底座II、减速器I、Z轴旋转支架、X轴旋转支架、减速器II、伺服电机II，十字关节姿态调整机构设置在动滑台的阶梯底座上，所述的减速器I的下面设置有电机底座II，通过4个螺钉将所述的伺服电机I安装在电机底座II的下方，减速器I的输出法兰与所述的Z轴旋转支架的法兰紧固孔I固定连接，伺服电机I驱动减速器I的输出法兰，使十字关节姿态调整机构绕Z轴实现旋转运动， Z轴旋转支架一端的减速器固定座上开设有1个定位销孔和4个螺纹孔II，通过1个定位销和4个螺钉将所述的减速器II固定安装在减速器固定座上，所述的伺服电机II固接在Z轴旋转支架的电机底座III上，所述的X轴旋转支架的两端开设有连接座，连接座上开设有6个法兰紧固孔II，通过6个螺钉贯穿法兰紧固孔II将连接座与减速器II的输出法兰固定连接，伺服电机II驱动减速器II的输出法兰，使十字关节姿态调整机构绕X轴实现旋转运动；所述的超声图像导航模块包括了Y轴滑台机构、超声探头旋转机构、穿刺模板、超声探头，所述的超声探头旋转机构包括了旋转支架、外固定座、固定支架、支架轴、托架、托架底座、步进电机、联轴器I，所述的穿刺模板包括导板、模板支撑轴、导板锁钮、导板底座、模板连接轴，所述的导板上设置有导航孔和圆锥弧槽，超声图像导航模块的滑台底座II设置在X轴旋转支架的正上面，所述的电机II驱动Y轴滑台机构在Y轴方向上的移动，电机II上设置的手动滑轮可以在紧急情况或断电情况下，通过手动旋转手动滑轮使超声图像导航模块向后移动，所述的支撑板II 上设置有外固定座和托架底座，外固定座上设置有可旋转的旋转支架，所述的托架与旋转支架之间通过3根支架轴连接，支架轴中间设置有所述的固定支架，固定支架用于固定设置在托架和旋转支架上的超声探头，所述的步进电机的输出轴通过联轴I器与托架固接，可实现超声探头在绕Y轴方向的旋转运动，获取前列腺病灶区域的序列超声图像，所述的导板底座通过模板连接轴与滑台底座II的一端固接，导板底座的两端设置有可上下调节的模板支撑轴，所述的升降锁钮用于锁紧模板支撑轴，模板支撑轴的上方设置有导板；所述的粒子植入模块包括粒子植入枪、X轴定点机构和Z轴定点机构，所述的粒子植入枪包括了外针控制电机、内针控制电机、联轴器II、联轴器III、工型底座、丝杠II、丝杠III、螺母滑套I、内针安装座、丝杠螺母II、丝杠螺母III、螺母滑套II、外针安装座、粒子弹夹仓、粒子枪座、内针、外针、针固定架，所述的X轴定点机构包括电机III、电机安装板、联轴器IV、丝杠螺母IV、直线轴承、丝杠IV、光杠I、粒子枪连接板、连接桁架，所述的Z轴定点机构包括电机IV、连接固定架、电机连接座、丝杠V、光杠II、螺母滑台、连接立架，所述的Z轴定点机构的连接固定架上开设有2个M6螺纹孔，通过螺钉将连接固定架固接在Y轴滑台机构的滑台底座II上，连接固定架上板的下方设置有电机连接座，所述的电机IV安装在电机连接座的下面，连接固定架上方设置有连接立架，所述的丝杠V和光杠II安装在连接立架上，丝杠V与电机IV的输出轴连接；丝杠V和光杠II上设置有螺母滑台，螺母滑台与丝杠V螺纹连接，所述的X轴定点机构的连接桁架固接在螺母滑台的一侧，电机安装板设置在螺母滑台的另一侧，所述的电机III安装在电机安装板上，连接桁架上设置有丝杠IV和光杠I，丝杠IV与电机III的输出轴通过联轴器IV连接，丝杠IV上设置有丝杠螺母IV，光杠I上设置有直线轴承，所述的粒子枪连接板固接在丝杠螺母IV和直线轴承上，粒子枪连接板的下方设置有粒子植入枪，电机IV驱动丝杠V旋转，可以使粒子植入枪在Z轴方向上移动，电机III驱动丝杠IV旋转，可以使粒子植入枪在X轴方向上移动。A prostate omnidirectional short-distance particle implantation robot of the present invention includes a position adjustment mechanism, a cross joint posture adjustment mechanism, an ultrasonic image navigation module, a particle implantation module, and a surgical trolley, and is characterized in that: the cross joint The joint attitude adjustment mechanism includes servo motor I, motor base II, reducer I, Z-axis rotation bracket, X-axis rotation bracket, reducer II, servo motor II, and the cross joint attitude adjustment mechanism is set on the stepped base of the sliding table , the motor base II is arranged under the reducer I, and the servo motor I is installed under the motor base II through 4 screws, and the output flange of the reducer I is connected with the Z-axis rotating bracket The flange fastening hole I is fixedly connected, and the output flange of the reducer I is driven by the servo motor I, so that the cross joint attitude adjustment mechanism can realize the rotation movement around the Z axis. There is a fixed position on the reducer fixing seat at one end of the Z axis rotating bracket. Pin hole and 4 threaded holes II, the reducer II is fixed on the reducer fixing seat through 1 positioning pin and 4 screws, and the servo motor II is fixed on the motor base of the Z-axis rotating bracket On III, the two ends of the X-axis rotating bracket are provided with connection seats, and there are 6 flange fastening holes II on the connection seat, and the connection seat and the reducer II are connected through 6 screws through the flange fastening holes II. The output flange is fixedly connected, and the output flange of the reducer II is driven by the servo motor II, so that the cross joint attitude adjustment mechanism realizes rotational movement around the X axis; the ultrasonic image navigation module includes a Y-axis slide mechanism, an ultrasonic probe rotation Mechanism, puncture template, ultrasonic probe, described ultrasonic probe rotating mechanism has included rotating bracket, external fixation base, fixed support, bracket shaft, bracket, bracket base, stepper motor, shaft coupling 1, described puncture The template includes a guide plate, a template support shaft, a guide plate lock button, a guide plate base, and a template connection shaft. The guide plate is provided with a navigation hole and a conical arc groove. Above, the motor II drives the movement of the Y-axis slide mechanism in the Y-axis direction, and the manual pulley provided on the motor II can make the ultrasound image navigation module move backwards by manually rotating the manual pulley in case of emergency or power failure. To move, the support plate II is provided with an external fixed seat and a bracket base, and the external fixed seat is provided with a rotatable rotating bracket, and the bracket and the rotating bracket are connected by 3 bracket shafts, and the bracket shaft The middle is provided with described fixed bracket, and fixed bracket is used for fixing the ultrasonic probe that is arranged on bracket and rotating bracket, and the output shaft of described stepper motor is fixedly connected with bracket by shaft coupling I, can realize ultrasonic probe Sequential ultrasonic images of the prostate lesion area are obtained by rotating around the Y axis. The guide plate base is fixedly connected to one end of the slide base II through the template connection shaft, and the two ends of the guide plate base are provided with template supports that can be adjusted up and down. shaft, the lifting lock button is used to lock the template support shaft, and a guide plate is arranged above the template support shaft; the particle implantation module includes a particle implantation gun, an X-axis fixed-point mechanism and a Z-axis fixed-point mechanism , the particle implant gun includes an outer needle control motor, an inner needle control motor, a shaft coupling II, a shaft coupling III, an I-shaped base, a lead screw II, a lead screw III, a nut sliding sleeve I, and an inner needle installation Seat, lead screw nut II, lead screw nut III, nut sliding sleeve II, outer needle mounting seat, particle magazine magazine, particle gun seat, inner needle, outer needle, needle holder, the X-axis fixed-point mechanism includes a motor III. Motor mounting plate, shaft coupling IV, lead screw nut IV, linear bearing, lead screw IV, light rod I, particle gun connecting plate, connecting truss, and the Z-axis fixed-point mechanism includes motor IV, connecting fixture, Motor connection seat, lead screw V, light rod II, nut slide table, connecting stand, two M6 threaded holes are provided on the connecting and fixing frame of the Z-axis fixed-point mechanism, and the connecting and fixing frame is fixed on the Y On the sliding table base II of the shaft sliding table mechanism, a motor connecting seat is arranged below the upper plate of the connecting fixed frame, the motor IV is installed under the motor connecting seat, and a connecting stand is arranged above the connecting fixed frame. The screw V and the light rod II are installed on the connecting stand, and the screw V is connected to the output shaft of the motor IV; the screw V and the light rod II are provided with a nut slide table, and the nut slide table is threadedly connected with the lead screw V, and the The connecting truss of the X-axis fixed-point mechanism is fixed on one side of the nut slide, the motor mounting plate is arranged on the other side of the nut slide, the motor III is installed on the motor mounting plate, and the connecting truss is provided with a lead screw IV and the light rod I, the lead screw IV and the output shaft of the motor III are connected through a coupling IV, the lead screw IV is provided with a lead screw nut IV, the light rod I is provided with a linear bearing, and the particle gun connecting plate is fixed on On the lead screw nut IV and the linear bearing, a particle implant gun is arranged under the particle gun connecting plate. The motor IV drives the lead screw V to rotate, which can move the particle implant gun in the Z-axis direction, and the motor III drives the lead screw IV to rotate. , which can make the particle implant gun move in the X-axis direction.
作为优选，所述的导板上设置有80mm×80mm中心距为4mm的阵列导航孔，导航孔的前端开设有圆锥弧槽，各圆锥弧槽的边缘相切；若存在误差，所述的外针接近导板时，外针的针尖在圆锥弧槽上，外针可沿着圆锥弧槽滑进导航孔。As a preference, the guide plate is provided with 80mm×80mm array navigation holes with a center distance of 4mm, and the front end of the navigation holes is provided with conical arc grooves, and the edges of each conical arc groove are tangent; if there is an error, the outer needle When approaching the guide plate, the needle point of the outer needle is on the conical arc groove, and the outer needle can slide into the navigation hole along the conical arc groove.
作为优选，所述的粒子植入枪的粒子枪座设置在粒子枪连接板的下面，所述的工型底座设置在粒子枪座的后端，工型底座上安装有外针控制电机和内针控制电机；外针控制电机的输出轴通过联轴器II与设置在粒子枪座上的丝杠II连接，内针控制电机的输出轴通过联轴器III设置在粒子枪座上的丝杠III连接；丝杠II上设置有螺母滑套I与丝杠螺母III，丝杠II与丝杠螺母III通过螺纹连接，丝杠III上设置有丝杠螺母II与螺母滑套II，丝杠III与丝杠螺母II通过螺纹连接；所述的内针安装座安装在螺母滑套I与丝杠螺母II上，内针安装座上设置有内针；所述的外针安装座安装在丝杠螺母III与螺母滑套II上，外针安装座上设置有粒子弹夹仓，所述的外针的底端穿过粒子弹夹仓的内部，外针在所述的针固定架上移动，针固定架可以在外针移动的过程中起到支撑的作用，防止外针的弯曲。As preferably, the particle gun seat of the particle implant gun is arranged under the particle gun connecting plate, and the I-shaped base is arranged at the rear end of the particle gun seat, and the outer needle control motor and the inner needle control motor are installed on the I-shaped base. Needle control motor; the output shaft of the outer needle control motor is connected to the lead screw II set on the particle gun base through the coupling II, and the output shaft of the inner needle control motor is set on the lead screw set on the particle gun base through the coupling III III connection; screw nut II and screw nut III are provided on screw II, screw II and screw nut III are connected by threads, screw nut II and nut sliding sleeve II are set on screw III, screw III It is threadedly connected with the lead screw nut II; the inner needle mounting seat is installed on the nut sliding sleeve I and the lead screw nut II, and the inner needle mounting seat is provided with an inner needle; the outer needle mounting seat is installed on the lead screw On the nut III and the nut sliding sleeve II, the outer needle mounting seat is provided with a particle magazine, the bottom of the outer needle passes through the inside of the particle magazine, and the outer needle moves on the needle holder. The needle fixing frame can play a supporting role in the process of moving the outer needle to prevent the bending of the outer needle.
作为优选，所述的位置调整机构包括了X轴滑台机构和Z轴升降调整机构；所述的X轴滑台机构包括轨道滑台、丝杠I、丝杠螺母I、丝杠滑块、轨道滑块、滑台底座I、防撞垫、电机底座I、电机I、支撑板I；所述的滑台底座I的左右两侧分别设置有轨道滑台，每个轨道滑台上设置有2个轨道滑块，轨道滑块能够在轨道滑台上自由的滑动；所述的电机底座I安装在滑台底座I的一端，通过4个螺钉将电机I固定连接在电机底座I上，所述的丝杠I与电机I的输出轴连接，所述的丝杠螺母I与丝杠I螺纹连接，丝杠螺母I上设置有丝杠滑块，丝杠螺母I的一侧与丝杠滑块的另一侧分别设置有防撞垫，丝杠滑块与4个轨道滑块在同一水平面，所述的支撑板I安装在丝杠滑块和4个轨道滑块上，通过电机I驱动丝杠I旋转，从而使丝杠螺母上的丝杠滑块带动支撑板I运动，实现X轴滑台机构在X方向上的移动，所述的Z轴升降调整机构固定连接在支撑板上，Z轴升降调整机构包括定底座和动滑台，通过定底座上的滑道凸台与动滑台上的滑道凹槽配合连接，实现Z轴升降调整机构在Z轴方向的双向滑动；所述的手术台车包括了万向轮、抽屉、弧形把手，X轴滑台机构的滑台底座I上设有阶梯孔，通过螺栓螺母将X轴滑台机构固定在手术台车上。Preferably, the position adjustment mechanism includes an X-axis sliding table mechanism and a Z-axis lifting adjustment mechanism; the X-axis sliding table mechanism includes a track slide table, a leading screw 1, a leading screw nut 1, a leading screw slider, Track slider, slide base 1, crash pad, motor base 1, motor 1, support plate 1; the left and right sides of described slide base 1 are provided with track slide respectively, and each track slide is provided with 2 track sliders, the track slider can slide freely on the track slide; the motor base 1 is installed on one end of the slide base 1, and the motor 1 is fixedly connected to the motor base 1 by 4 screws. Said lead screw I is connected with the output shaft of motor I, said lead screw nut I is threadedly connected with lead screw I, and lead screw nut I is provided with a lead screw slider, and one side of lead screw nut I slides with the lead screw. The other side of the block is respectively provided with anti-collision pads, the lead screw slider and the 4 track sliders are on the same level, and the support plate 1 is installed on the lead screw slider and the 4 track sliders, driven by the motor 1 The lead screw I rotates, so that the lead screw slider on the lead screw nut drives the support plate I to move, and realizes the movement of the X-axis slide mechanism in the X direction. The Z-axis lifting adjustment mechanism is fixedly connected to the support plate. The Z-axis lifting adjustment mechanism includes a fixed base and a moving slide table, and the slideway boss on the fixed base is connected with the slideway groove on the moving slide table to realize the two-way sliding of the Z-axis lifting adjustment mechanism in the Z-axis direction; The operating trolley described above includes universal wheels, drawers, and arc handles. The slide base 1 of the X-axis slide mechanism is provided with stepped holes, and the X-axis slide mechanism is fixed on the operating trolley by bolts and nuts.
本发明的有益效果为：The beneficial effects of the present invention are:
（1）十字关节姿态调整机构安装在Z轴升降调整机构的动滑台上，使得结构紧凑，十字关节姿态调整机构采用伺服电机和减速器的驱动方式，提高了定位精度和增大了输出扭矩；(1) The cross joint attitude adjustment mechanism is installed on the sliding table of the Z-axis lifting adjustment mechanism, which makes the structure compact. The cross joint attitude adjustment mechanism adopts the drive mode of servo motor and reducer, which improves the positioning accuracy and increases the output torque ;
（2）粒子植入模块安装在Y轴滑台机构的滑台底座II上，在调整超声探头的位置和姿态过程中，粒子枪的内针和外针始终保持在超声探头的矢状面内，因此在超声图像中，医生可以清晰看到内针和外针的进针轨迹，提高了粒子植入的穿刺精度；(2) The particle implantation module is installed on the sliding table base II of the Y-axis sliding table mechanism. During the adjustment of the position and attitude of the ultrasonic probe, the inner and outer needles of the particle gun are always kept in the sagittal plane of the ultrasonic probe , so in the ultrasound image, the doctor can clearly see the trajectory of the inner needle and the outer needle, which improves the puncture accuracy of particle implantation;
（3）导板上设置有80mm×80mm中心距为4mm的阵列导航孔，导航孔的前端开设有圆锥弧槽，各圆锥弧槽的边缘相切，若存在误差，在粒子植入过程中外针接近导板时，外针的针尖在圆锥弧槽上，外针可沿着圆锥弧槽滑进导航孔，可以消除误差带来的影响；(3) There are 80mm×80mm array navigation holes with a center distance of 4mm on the guide plate. The front end of the navigation holes is provided with conical arc grooves. The edges of each conical arc groove are tangent. When guiding the plate, the needle tip of the outer needle is on the conical arc groove, and the outer needle can slide into the navigation hole along the conical arc groove, which can eliminate the influence of the error;
（4）Y轴滑台机构的驱动电机上设置有手动滑轮，在紧急情况下，前列腺近距离粒子植入机器人能够迅速停止。可以通过手动滑轮实现手动退回至安全区，提高了安全性；(4) The drive motor of the Y-axis sliding table mechanism is equipped with a manual pulley. In an emergency, the prostate close-range particle implantation robot can stop quickly. It can be manually returned to the safe area through the manual pulley, which improves the safety;
（5）将手术台车的弧形把手设计成一体化的结构，简洁易握，推行省力，医生在进行手术时，可以移动手术台车到指定的病床处，按下制动开关来索斯手术台车底部的万向轮，防止在手术过程中移动，这种可移动的手术台车提高了前列腺近距离粒子植入机器人的灵活性。(5) The arc-shaped handle of the operating trolley is designed into an integrated structure, which is simple and easy to hold, and saves labor. When the doctor is performing an operation, he can move the operating trolley to the designated hospital bed and press the brake switch. The universal wheels at the bottom of the operating trolley prevent movement during the operation. This movable operating trolley improves the flexibility of the prostate close-range particle implantation robot.
附图说明：Description of drawings:
为了易于说明，本发明由下述的具体实施及附图作以详细描述。For ease of illustration, the present invention is described in detail by the following specific implementations and accompanying drawings.
图1为本发明结构总体示意图；Fig. 1 is an overall schematic diagram of the structure of the present invention;
图2为本发明位置和十字关节姿态调整机构的结构示意图；Fig. 2 is a structural schematic diagram of the position and cross joint posture adjustment mechanism of the present invention;
图3为本发明X轴滑台机构的结构示意图；Fig. 3 is a structural schematic diagram of the X-axis slide mechanism of the present invention;
图4为本发明动滑台的结构示意图；Fig. 4 is a schematic structural view of the sliding table of the present invention;
图5为本发明十字关节姿态调整机构的结构示意图；Fig. 5 is a structural schematic diagram of the cross joint posture adjustment mechanism of the present invention;
图6为本发明Z轴旋转支架的结构示意图；6 is a schematic structural view of the Z-axis rotating bracket of the present invention;
图7为本发明X轴旋转支架的结构示意图；7 is a schematic structural view of the X-axis rotating bracket of the present invention;
图8为本发明超声探头姿态调整机构的结构示意图；Fig. 8 is a schematic structural diagram of the attitude adjustment mechanism of the ultrasonic probe of the present invention;
图9为本发明导板的结构示意图；Fig. 9 is a schematic structural view of the guide plate of the present invention;
图10为本发明粒子植入模块位置调整机构的结构示意图；Fig. 10 is a schematic structural diagram of the position adjustment mechanism of the particle implantation module of the present invention;
图11为本发明粒子植入枪的结构示意图；Fig. 11 is a schematic structural view of the particle implantation gun of the present invention;
图12为本发明手术台车的结构示意图。Fig. 12 is a schematic structural view of the operating trolley of the present invention.
图中：1位置调整机构、1-1X轴滑台机构、1-1-1轨道滑台、1-1-2丝杠I、1-1-3丝杠螺母I、1-1-4丝杠滑块、1-1-5轨道滑块、1-1-6滑台底座I、1-1-7防撞垫、1-1-8电机底座、1-1-9电机I、1-1-10支撑板I、1-2Z轴升降调整机构、1-2-1定底座、1-2-1-1滑道凸台、1-2-2动滑台、1-2-2-1滑道凹槽、1-2-2-2阶梯底座、1-2-2-3螺纹孔I、2十字关节姿态调整机构、2-1伺服电机I、2-2电机底座II、2-3减速器I、2-4Z轴旋转支架、2-4-1法兰紧固孔I、2-4-2减速器固定座、2-4-3螺纹孔II、2-4-4定位销孔、2-4-5电机底座III、2-5X轴旋转支架、2-5-1法兰紧固孔II、2-5-2连接座、2-6减速器II、2-7伺服电机II、3超声图像导航模块、3-1Y轴滑台机构、3-1-1滑台底座II、3-1-2支撑板II、3-1-3手动滑轮、3-1-4电机II、3-2超声探头旋转机构、3-2-1旋转支架、3-2-2外固定座、3-2-3固定支架、3-2-4支架轴、3-2-5托架、3-2-6托架底座、3-2-7步进电机、3-2-8联轴器I、3-3穿刺模板、3-3-1导板、3-3-1-1导航孔、3-3-1-2圆锥弧槽、3-3-2模板支撑轴、3-3-3升降锁钮、3-3-4导板底座、3-3-5模板连接轴、3-4超声探头、4粒子植入模块、4-1粒子植入枪、4-1-1外针控制电机、4-1-2内针控制电机、4-1-3联轴器II、4-1-4联轴器III、4-1-5工型底座、4-1-6丝杠II、4-1-7丝杠III、4-1-8螺母滑套I、4-1-9内针安装座、4-1-10丝杠螺母II、4-1-11丝杠螺母III、4-1-12螺母滑套II、4-1-13螺母滑套II、4-1-13外针安装座、4-1-14粒子弹夹仓、4-1-15粒子枪座、4-1-16内针、4-1-17外针、4-1-18针固定架、4-2X轴定点机构、4-2-1电机III、4-2-2电机安装板、4-2-3联轴器IV、4-2-4丝杆螺母IV、4-2-5直线轴承、4-2-6丝杠IV、4-2-7光杠I、4-2-8粒子枪连接板、4-2-9连接桁架、4-3Z轴定点机构、4-3-1电机IV、4-3-2连接固定架、4-3-3电机连接座、4-3-4丝杠V、4-3-5光杠II、4-3-6螺母滑台、4-3-7连接立架、5手术台车、5-1万向轮、5-2抽屉、5-3弧形把手。In the figure: 1 position adjustment mechanism, 1-1X axis sliding table mechanism, 1-1-1 track sliding table, 1-1-2 screw I, 1-1-3 screw nut I, 1-1-4 wire Bar slider, 1-1-5 track slider, 1-1-6 slide base I, 1-1-7 anti-collision pad, 1-1-8 motor base, 1-1-9 motor I, 1- 1-10 support plate I, 1-2 Z-axis lifting adjustment mechanism, 1-2-1 fixed base, 1-2-1-1 slideway boss, 1-2-2 movable slide table, 1-2-2- 1 slideway groove, 1-2-2-2 stepped base, 1-2-2-3 threaded hole I, 2 cross joint attitude adjustment mechanism, 2-1 servo motor I, 2-2 motor base II, 2- 3 reducer I, 2-4Z axis rotation bracket, 2-4-1 flange fastening hole I, 2-4-2 reducer fixing seat, 2-4-3 threaded hole II, 2-4-4 positioning pin Hole, 2-4-5 motor base III, 2-5X axis rotation bracket, 2-5-1 flange fastening hole II, 2-5-2 connecting seat, 2-6 reducer II, 2-7 servo motor II, 3 ultrasound image navigation module, 3-1Y-axis slide mechanism, 3-1-1 slide base II, 3-1-2 support plate II, 3-1-3 manual pulley, 3-1-4 motor II , 3-2 ultrasonic probe rotation mechanism, 3-2-1 rotating bracket, 3-2-2 external fixing seat, 3-2-3 fixed bracket, 3-2-4 bracket shaft, 3-2-5 bracket, 3-2-6 bracket base, 3-2-7 stepper motor, 3-2-8 coupling I, 3-3 puncture template, 3-3-1 guide plate, 3-3-1-1 navigation hole , 3-3-1-2 conical arc groove, 3-3-2 template support shaft, 3-3-3 lifting lock button, 3-3-4 guide plate base, 3-3-5 template connecting shaft, 3-4 Ultrasonic probe, 4-particle implantation module, 4-1 particle implantation gun, 4-1-1 outer needle control motor, 4-1-2 inner needle control motor, 4-1-3 coupling II, 4-1 -4 coupling III, 4-1-5 type base, 4-1-6 screw II, 4-1-7 screw III, 4-1-8 nut sliding sleeve I, 4-1-9 inside Needle mounting seat, 4-1-10 screw nut II, 4-1-11 screw nut III, 4-1-12 nut sliding sleeve II, 4-1-13 nut sliding sleeve II, 4-1-13 outer Needle mounting seat, 4-1-14 particle magazine magazine, 4-1-15 particle gun seat, 4-1-16 inner needle, 4-1-17 outer needle, 4-1-18 needle holder, 4- 2X-axis fixed-point mechanism, 4-2-1 motor III, 4-2-2 motor mounting plate, 4-2-3 coupling IV, 4-2-4 screw nut IV, 4-2-5 linear bearing, 4-2-6 lead screw IV, 4-2-7 light rod I, 4-2-8 particle gun connecting plate, 4-2-9 connecting truss, 4-3 Z-axis fixed-point mechanism, 4-3-1 motor IV , 4-3-2 connection fixing frame, 4-3-3 motor connection seat, 4-3-4 lead screw V, 4-3-5 light rod II, 4 -3-6 nut slide table, 4-3-7 connecting stand, 5 operating trolley, 5-1 universal wheel, 5-2 drawer, 5-3 arc handle.
具体实施方式：Detailed ways:
为使本发明的目的、技术方案和优点更加清楚明了，下面通过附图中示出的具体实施例来描述本发明。但是应该理解，这些描述只是示例性的，而并非要限制本发明的范围。此外，在以下说明中，省略了对公知结构和技术的描述，以避免不必要地混淆本发明的概念。In order to make the object, technical solution and advantages of the present invention clearer, the present invention is described below through specific embodiments shown in the accompanying drawings. It should be understood, however, that these descriptions are exemplary only and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present invention.
如图1至图12所示，本具体实施方式采用以下技术方案：它包含了位置调整机构1、十字关节姿态调整机构2、超声图像导航模块3、粒子植入模块4、手术台车5，其特征在于：所述的十字关节姿态调整机构2包括了伺服电机I2-1、电机底座II 2-2、减速器I2-3、Z轴旋转支架2-4、X轴旋转支架2-5、减速器II 2-6、伺服电机II 2-7，十字关节姿态调整机构2设置在动滑台1-2-2的阶梯底座1-2-2-2上，所述的减速器I2-3的下面设置有电机底座II 2-2，通过4个螺钉将所述的伺服电机I2-1安装在电机底座II 2-2的下方，减速器I2-3的输出法兰与所述的Z轴旋转支架2-4的法兰紧固孔I2-4-1固定连接，伺服电机I2-1驱动减速器I2-3的输出法兰，使十字关节姿态调整机构2绕Z轴实现旋转运动，Z轴旋转支架2-4一端的减速器固定座2-4-2上开设有1个定位销孔2-4-4和4个螺纹孔II2-4-3，通过1个定位销和4个螺钉将所述的减速器II2-6固定安装在减速器固定座2-4-2上，所述的伺服电机II2-7固接在Z轴旋转支架2-4的电机底座III2-4-5上，所述的X轴旋转支架2-5的两端开设有连接座2-5-2，连接座2-5-2上开设有6个法兰紧固孔II2-5-1，通过6个螺钉贯穿法兰紧固孔II2-5-1将连接座2-5-2与减速器II2-6的输出法兰固定连接，伺服电机II2-7驱动减速器II2-6的输出法兰，使十字关节姿态调整机构2绕X轴实现旋转运动；所述的超声图像导航模块3包括了Y轴滑台机构3-1、超声探头旋转机构3-2、穿刺模板3-3、超声探头3-4，所述的超声探头旋转机构3-2包括了旋转支架3-2-1、外固定座3-2-2、固定支架3-2-3、支架轴3-2-4、托架3-2-5、托架底座3-2-6、步进电机3-2-7、联轴器I3-2-8，所述的穿刺模板3-3包括导板3-3-1、模板支撑轴3-3-2、导板锁钮3-3-3、导板底座3-3-4、模板连接轴3-3-5，所述的导板3-3-1上设置有导航孔3-3-1-1和圆锥弧槽3-3-1-2，超声图像导航模块3的滑台底座II3-1-1设置在X轴旋转支架2-5的正上面，所述的电机II3-1-4驱动Y轴滑台机构3-1在Y轴方向上的移动，电机II3-1-4上设置的手动滑轮3-1-3可以在紧急情况或断电情况下，通过手动旋转手动滑轮3-1-3使超声图像导航模块3向后移动，所述的支撑板II3-1-2上设置有外固定座3-2-2和托架底座3-2-6，外固定座3-2-2上设置有可旋转的旋转支架3-2-1，所述的托架3-2-5与旋转支架3-2-1之间通过3根支架轴3-2-4连接，支架轴3-2-4中间设置有所述的固定支架3-2-3，固定支架3-2-3用于固定设置在托架3-2-5和旋转支架3-2-1上的超声探头3-4，所述的步进电机3-2-7的输出轴通过联轴I3-2-8器与托架3-2-5固接，可实现超声探头3-4在绕Y轴方向的旋转运动，获取前列腺病灶区域的序列超声图像，所述的导板底座3-3-4通过模板连接轴3-3-5与滑台底座II3-1-1的一端固接，导板底座3-3-4的两端设置有可上下调节的模板支撑轴3-3-2，所述的升降锁钮3-3-3用于锁紧模板支撑轴3-3-2，模板支撑轴3-3-2的上方设置有导板3-3-1；所述的粒子植入模块4包括粒子植入枪4-1、X轴定点机构4-2和Z轴定点机构4-3，所述的粒子植入枪4-1包括了外针控制电机4-1-1、内针控制电机4-1-2、联轴器II4-1-3、联轴器III4-1-4、工型底座4-1-5、丝杠II4-1-6、丝杠III4-1-7、螺母滑套I4-1-8、内针安装座4-1-9、丝杠螺母II4-1-10、丝杠螺母III4-1-11、螺母滑套II4-1-12、外针安装座4-1-13、粒子弹夹仓4-1-14、粒子枪座4-1-15、内针4-1-16、外针4-1-17、针固定架4-1-18，所述的X轴定点机构4-2包括电机III4-2-1、电机安装板4-2-2、联轴器IV4-2-3、丝杠螺母IV4-2-4、直线轴承4-2-5、丝杠IV4-2-6、光杠I4-2-7、粒子枪连接板4-2-8、连接桁架4-2-9，所述的Z轴定点机构4-3包括电机IV4-3-1、连接固定架4-3-2、电机连接座4-3-3、丝杠V4-3-4、光杠II4-3-5、螺母滑台4-3-6、连接立架4-3-7，所述的Z轴定点机构4-3的连接固定架4-3-2上开设有2个M6螺纹孔4-3-2-1，通过螺钉将连接固定架4-3-2固接在Y轴滑台机构3-1的滑台底座II3-1-1上，连接固定架4-3-2上板的下方设置有电机连接座4-3-3，所述的电机IV4-3-1安装在电机连接座4-3-2的下面，连接固定架4-3-2上方设置有连接立架4-3-7，所述的丝杠V4-3-4和光杠II4-3-5安装在连接立架上，丝杠V4-3-4与电机IV4-3-1的输出轴连接；丝杠V4-3-4和光杠II4-3-5上设置有螺母滑台4-3-6，螺母滑台4-3-6与丝杠V4-3-4螺纹连接，所述的X轴定点机构4-2的连接桁架4-2-9固接在螺母滑台4-3-6的一侧，电机安装板4-2-2设置在螺母滑台4-3-6的另一侧，所述的电机III4-2-1安装在电机安装板4-2-2上，连接桁架4-2-9上设置有丝杠IV4-2-6和光杠I4-2-7，丝杠IV4-2-6与电机III4-2-1的输出轴通过联轴器IV4-2-3连接，丝杠IV4-2-6上设置有丝杠螺母IV4-2-4，光杠I4-2-7上设置有直线轴承4-2-5，所述的粒子枪连接板4-2-8固接在丝杠螺母IV4-2-4和直线轴承4-2-5上，粒子枪连接板4-2-8的下方设置有粒子植入枪4-1，电机IV4-3-1驱动丝杠V4-3-4旋转，可以使粒子植入枪4-1在Z轴方向上移动，电机III4-2-1驱动丝杠IV4-2-6旋转，可以使粒子植入枪4-1在X轴方向上移动。As shown in Figures 1 to 12, this specific embodiment adopts the following technical solutions: it includes a position adjustment mechanism 1, a cross joint posture adjustment mechanism 2, an ultrasonic image navigation module 3, a particle implantation module 4, and a surgical trolley 5, It is characterized in that: the cross joint posture adjustment mechanism 2 includes a servo motor I2-1, a motor base II 2-2, a reducer I2-3, a Z-axis rotating bracket 2-4, an X-axis rotating bracket 2-5, Reducer II 2-6, servo motor II 2-7, the cross joint posture adjustment mechanism 2 is arranged on the ladder base 1-2-2-2 of the movable slide table 1-2-2, the described reducer I2-3 The motor base II 2-2 is arranged under the motor base II 2-2, and the servo motor I2-1 is installed under the motor base II 2-2 through 4 screws, and the output flange of the reducer I2-3 is connected to the Z-axis The flange fastening hole I2-4-1 of the rotating bracket 2-4 is fixedly connected, and the servo motor I2-1 drives the output flange of the reducer I2-3, so that the cross joint attitude adjustment mechanism 2 realizes the rotational movement around the Z axis, and the Z A positioning pin hole 2-4-4 and 4 threaded holes II2-4-3 are provided on the reducer fixing seat 2-4-2 at one end of the shaft rotation bracket 2-4, through which a positioning pin and 4 screws Fix the reducer II2-6 on the reducer fixing base 2-4-2, and fix the servo motor II2-7 on the motor base III2-4-5 of the Z-axis rotating bracket 2-4 , the two ends of the X-axis rotating bracket 2-5 are provided with a connection seat 2-5-2, and the connection seat 2-5-2 is provided with 6 flange fastening holes II2-5-1, through 6 The screw goes through the flange fastening hole II2-5-1 to connect the connection seat 2-5-2 with the output flange of the reducer II2-6, and the servo motor II2-7 drives the output flange of the reducer II2-6, so that The cross-joint posture adjustment mechanism 2 realizes rotational movement around the X axis; the ultrasonic image navigation module 3 includes a Y-axis slide mechanism 3-1, an ultrasonic probe rotation mechanism 3-2, a puncture template 3-3, and an ultrasonic probe 3- 4. The ultrasonic probe rotation mechanism 3-2 includes a rotating bracket 3-2-1, an external fixing seat 3-2-2, a fixing bracket 3-2-3, a bracket shaft 3-2-4, and a bracket 3 -2-5, bracket base 3-2-6, stepper motor 3-2-7, coupling I3-2-8, the puncture template 3-3 includes guide plate 3-3-1, template support Axis 3-3-2, guide plate lock button 3-3-3, guide plate base 3-3-4, template connecting shaft 3-3-5, the guide plate 3-3-1 is provided with a navigation hole 3-3 -1-1 and conical arc groove 3-3-1-2, the slide table base II3-1-1 of the ultrasonic image navigation module 3 is arranged directly above the X-axis rotating support 2-5, and the motor II3-1 -4 drives the Y-axis sliding table mechanism 3-1 to move in the Y-axis direction, and the manual pulley 3-1-3 provided on the motor II3-1-4 can rotate the manual pulley manually in case of emergency or power failure 3-1- 3 Move the ultrasonic image navigation module 3 backwards, the support plate II3-1-2 is provided with an external fixation seat 3-2-2 and a bracket base 3-2-6, and the external fixation seat 3-2-2 A rotatable rotating bracket 3-2-1 is arranged on the top, and the bracket 3-2-5 is connected with the rotating bracket 3-2-1 through three bracket shafts 3-2-4, and the bracket shaft 3- The fixed bracket 3-2-3 is arranged in the middle of 2-4, and the fixed bracket 3-2-3 is used to fix the ultrasonic probe 3-2-3 on the bracket 3-2-5 and the rotating bracket 3-2-1. 4. The output shaft of the stepping motor 3-2-7 is fixedly connected to the bracket 3-2-5 through the coupling I3-2-8, which can realize the rotation of the ultrasonic probe 3-4 around the Y axis movement to obtain sequential ultrasound images of the prostate lesion area, the guide plate base 3-3-4 is fixedly connected to one end of the slide table base II3-1-1 through the template connection shaft 3-3-5, and the guide plate base 3-3- Both ends of 4 are provided with a formwork support shaft 3-3-2 that can be adjusted up and down, and the lift lock button 3-3-3 is used to lock the formwork support shaft 3-3-2, and the formwork support shaft 3-3- 2 is provided with a guide plate 3-3-1; the particle implantation module 4 includes a particle implantation gun 4-1, an X-axis fixed-point mechanism 4-2 and a Z-axis fixed-point mechanism 4-3, and the particle implantation module 4 The gun entry 4-1 includes the outer needle control motor 4-1-1, the inner needle control motor 4-1-2, the shaft coupling II4-1-3, the shaft coupling III4-1-4, and the work base 4- 1-5, lead screw II4-1-6, lead screw III4-1-7, nut sliding sleeve I4-1-8, inner needle mounting seat 4-1-9, lead screw nut II4-1-10, lead screw Nut III4-1-11, nut sliding sleeve II4-1-12, outer needle mounting seat 4-1-13, particle cartridge magazine 4-1-14, particle gun seat 4-1-15, inner needle 4-1 -16, outer needle 4-1-17, needle holder 4-1-18, described X-axis fixed-point mechanism 4-2 includes motor III 4-2-1, motor mounting plate 4-2-2, shaft coupling IV4-2-3, lead screw nut IV4-2-4, linear bearing 4-2-5, lead screw IV4-2-6, light rod I4-2-7, particle gun connecting plate 4-2-8, connection The truss 4-2-9, the Z-axis fixed-point mechanism 4-3 includes a motor IV4-3-1, a connecting frame 4-3-2, a motor connecting seat 4-3-3, and a lead screw V4-3-4 , light bar II4-3-5, nut slide table 4-3-6, connecting stand 4-3-7, and the connecting and fixing frame 4-3-2 of the Z-axis fixed-point mechanism 4-3 is provided with 2 One M6 threaded hole 4-3-2-1, the connection and fixing frame 4-3-2 is fixed on the slide base II3-1-1 of the Y-axis sliding table mechanism 3-1 through screws, and the connection and fixing frame 4- 3-2 There is a motor connecting seat 4-3-3 under the upper plate, the motor IV4-3-1 is installed under the motor connecting seat 4-3-2, and the connecting bracket 4-3-2 is set above connected The vertical frame 4-3-7, the described leading screw V4-3-4 and the light rod II4-3-5 are installed on the connecting vertical frame, and the leading screw V4-3-4 is connected with the output shaft of the motor IV4-3-1 ; Lead screw V4-3-4 and light rod II4-3-5 are provided with nut slide table 4-3-6, and nut slide table 4-3-6 is threadedly connected with lead screw V4-3-4, and said X The connecting truss 4-2-9 of the shaft fixed-point mechanism 4-2 is fixed on one side of the nut slide 4-3-6, and the motor mounting plate 4-2-2 is arranged on the other side of the nut slide 4-3-6. side, the motor III4-2-1 is installed on the motor mounting plate 4-2-2, and the connecting truss 4-2-9 is provided with a lead screw IV4-2-6 and a light rod I4-2-7, the lead screw IV4-2-6 is connected with the output shaft of the motor III4-2-1 through the coupling IV4-2-3, the screw nut IV4-2-4 is arranged on the screw IV4-2-6, and the feed rod I4-2 -7 is provided with a linear bearing 4-2-5, the particle gun connecting plate 4-2-8 is fixedly connected to the lead screw nut IV4-2-4 and the linear bearing 4-2-5, the particle gun connecting plate The particle implantation gun 4-1 is arranged below 4-2-8, and the motor IV4-3-1 drives the lead screw V4-3-4 to rotate, so that the particle implantation gun 4-1 can move in the Z-axis direction, and the motor III4-2-1 drives the lead screw IV4-2-6 to rotate, which can make the particle implantation gun 4-1 move in the X-axis direction.
进一步的，如图9所示所述的导板3-3-1上设置有80mm×80mm中心距为4mm的阵列导航孔3-3-1-1，导航孔3-3-1-1的前端开设有圆锥弧槽3-3-1-2，各圆锥弧槽3-3-1-2的边缘相切；若存在误差，所述的外针 4-1-12接近导板3-3-1时，外针4-1-12的针尖在圆锥弧槽3-3-1-2上，外针4-1-12可沿着圆锥弧槽3-3-1-2滑进导航孔3-3-1-1。Further, as shown in Figure 9, the guide plate 3-3-1 is provided with an array navigation hole 3-3-1-1 with a center distance of 80mm×80mm and a center distance of 4mm, and the front end of the navigation hole 3-3-1-1 There are conical arc grooves 3-3-1-2, and the edges of each conical arc groove 3-3-1-2 are tangent; if there is an error, the outer needle 4-1-12 is close to the guide plate 3-3-1 , the needle point of the outer needle 4-1-12 is on the conical arc groove 3-3-1-2, and the outer needle 4-1-12 can slide into the navigation hole 3-3-1 along the conical arc groove 3-3-1-2 3-1-1.
进一步的，如图11所示，所述的粒子植入枪4-1的粒子枪座4-1-15设置在粒子枪连接板4-2-8的下面，所述的工型底座4-1-5设置在粒子枪座4-1-15的后端，工型底座4-1-5上安装有外针控制电机4-1-1和内针控制电机4-1-2；外针控制电机4-1-1的输出轴通过联轴器II4-1-3与设置在粒子枪座4-1-15上的丝杠II4-1-6连接，内针控制电机4-1-2的输出轴通过联轴器III4-1-4设置在粒子枪座4-1-15上的丝杠III4-1-7连接；丝杠II4-1-6上设置有螺母滑套I4-1-8与丝杠螺母III4-1-11，丝杠II4-1-6与丝杠螺母III4-1-11通过螺纹连接，丝杠III4-1-7上设置有丝杠螺母II4-1-10与螺母滑套II4-1-12，丝杠III4-1-7与丝杠螺母II4-1-10通过螺纹连接；所述的内针安装座4-1-9安装在螺母滑套I4-1-8与丝杠螺母II4-1-10上，内针安装座4-1-9上设置有内针4-1-16；所述的外针安装座4-1-13安装在丝杠螺母III4-1-11与螺母滑套II4-1-12上，外针安装座4-1-13上设置有粒子弹夹仓4-1-14，所述的外针4-1-17的底端穿过粒子弹夹仓4-1-14的内部，外针4-1-17在所述的针固定架4-1-18上移动，针固定架4-1-18可以在外针4-1-17移动的过程中起到支撑的作用，防止外针4-1-17的弯曲。Further, as shown in Figure 11, the particle gun seat 4-1-15 of the particle implantation gun 4-1 is arranged under the particle gun connecting plate 4-2-8, and the I-shaped base 4- 1-5 is arranged on the rear end of the particle gun seat 4-1-15, and the outer needle control motor 4-1-1 and the inner needle control motor 4-1-2 are installed on the work-shaped base 4-1-5; The output shaft of the control motor 4-1-1 is connected with the lead screw II4-1-6 arranged on the particle gun seat 4-1-15 through the coupling II4-1-3, and the inner needle controls the motor 4-1-2 The output shaft is connected to the lead screw III4-1-7 set on the particle gun seat 4-1-15 through the coupling III4-1-4; the lead screw II4-1-6 is provided with a nut sliding sleeve I4-1- 8 and lead screw nut III4-1-11, lead screw II4-1-6 and lead screw nut III4-1-11 are threadedly connected, and lead screw III4-1-7 is provided with lead screw nut II4-1-10 and The nut sliding sleeve II4-1-12, the lead screw III4-1-7 and the screw nut II4-1-10 are threadedly connected; the inner needle mounting seat 4-1-9 is installed on the nut sliding sleeve I4-1- 8 and the lead screw nut II4-1-10, the inner needle mounting seat 4-1-9 is provided with an inner needle 4-1-16; the outer needle mounting seat 4-1-13 is installed on the lead screw nut III4 -1-11 and the nut sliding sleeve II4-1-12, the outer needle mounting seat 4-1-13 is provided with a particle cartridge magazine 4-1-14, the bottom of the outer needle 4-1-17 Through the inside of the particle magazine magazine 4-1-14, the outer needle 4-1-17 moves on the needle holder 4-1-18, and the needle holder 4-1-18 can be placed on the outer needle 4-1 -17 plays a supporting role in the process of moving, preventing the bending of the outer needle 4-1-17.
进一步的，如图2、图3、图4、图12所示，所述的位置调整机构1包括了X轴滑台机构1-1和Z轴升降调整机构1-2；所述的X轴滑台机构1-1包括轨道滑台1-1-1、丝杠I1-1-2、丝杠螺母I1-1-3、丝杠滑块1-1-4、轨道滑块1-1-5、滑台底座I1-1-6、防撞垫1-1-7、电机底座I1-1-8、电机I1-1-9、支撑板I1-1-10；所述的滑台底座I1-1-6的左右两侧分别设置有轨道滑台1-1-1，每个轨道滑台1-1-1上设置有2个轨道滑块1-1-5，轨道滑块1-1-5能够在轨道滑台1-1-1上自由的滑动；所述的电机底座I1-1-8安装在滑台底座I1-1-6的一端，通过4个螺钉将电机I1-1-9固定连接在电机底座I1-1-8上，所述的丝杠I1-1-2与电机I1-1-9的输出轴连接，所述的丝杠螺母I1-1-3与丝杠I1-1-2螺纹连接，丝杠螺母I1-1-3上设置有丝杠滑块1-1-4，丝杠螺母I1-1-3的一侧与丝杠滑块1-1-4的另一侧分别设置有防撞垫1-1-7，丝杠滑块1-1-4与4个轨道滑块1-1-5在同一水平面，所述的支撑板I1-1-10安装在丝杠滑块1-1-4和4个轨道滑块1-1-5上，通过电机I1-1-9驱动丝杠I1-1-2旋转，从而使丝杠螺母1-1-3上的丝杠滑块1-1-4带动支撑板I1-1-10运动，实现X轴滑台机构1-1在X方向上的移动，所述的Z轴升降调整机构1-2固定连接在支撑板1-1-10上，Z轴升降调整机构1-2包括定底座1-2-1和动滑台1-2-2，通过定底座1-2-1上的滑道凸台1-2-1-1与动滑台1-2-2上的滑道凹槽1-2-2-1配合连接，实现Z轴升降调整机构1-2在Z轴方向的双向滑动；所述的手术台车5包括了万向轮5-1、抽屉5-2、弧形把手5-3，X轴滑台机构1-1的滑台底座I1-1-6上设有阶梯孔1-1-6-1，通过螺栓螺母将X轴滑台机构1-1固定在手术台车5上。Further, as shown in Figure 2, Figure 3, Figure 4, and Figure 12, the position adjustment mechanism 1 includes an X-axis slide mechanism 1-1 and a Z-axis lifting adjustment mechanism 1-2; the X-axis Slide table mechanism 1-1 comprises track slide table 1-1-1, leading screw I1-1-2, leading screw nut I1-1-3, leading screw slide block 1-1-4, track slide block 1-1- 5. Slider base I1-1-6, crash pad 1-1-7, motor base I1-1-8, motor I1-1-9, support plate I1-1-10; the slide base I1 The left and right sides of -1-6 are respectively provided with a track slide 1-1-1, and each track slide 1-1-1 is provided with 2 track slides 1-1-5, and the track slide 1-1 -5 can freely slide on the track slide 1-1-1; the motor base I1-1-8 is installed on one end of the slide base I1-1-6, and the motor I1-1-1 is connected by 4 screws 9 is fixedly connected on the motor base I1-1-8, the said lead screw I1-1-2 is connected with the output shaft of the motor I1-1-9, the said lead screw nut I1-1-3 is connected with the lead screw I1 -1-2 thread connection, lead screw nut I1-1-3 is provided with lead screw slider 1-1-4, one side of lead screw nut I1-1-3 and lead screw slider 1-1-4 The other side is respectively provided with anti-collision pads 1-1-7, the lead screw slider 1-1-4 is on the same level as the 4 track sliders 1-1-5, and the support plate I1-1-10 is installed On the screw slider 1-1-4 and the 4 track sliders 1-1-5, the motor I1-1-9 drives the screw I1-1-2 to rotate, so that the screw nut 1-1-3 The screw slider 1-1-4 on the top drives the support plate I1-1-10 to move to realize the movement of the X-axis sliding table mechanism 1-1 in the X direction, and the Z-axis lifting adjustment mechanism 1-2 is fixedly connected On the support plate 1-1-10, the Z-axis lifting adjustment mechanism 1-2 includes a fixed base 1-2-1 and a movable sliding table 1-2-2, through the slideway boss on the fixed base 1-2-1 1-2-1-1 is connected with the slideway groove 1-2-2-1 on the movable slide table 1-2-2 to realize the two-way sliding of the Z-axis lifting adjustment mechanism 1-2 in the Z-axis direction; The operating trolley 5 described above includes universal wheels 5-1, drawers 5-2, arc handles 5-3, and the slide base I1-1-6 of the X-axis slide mechanism 1-1 is provided with a stepped hole 1 -1-6-1, fix the X-axis sliding table mechanism 1-1 on the operating trolley 5 through bolts and nuts.
本发明具体实施的工作原理：患者以截石位躺卧在病床上，术前进行消毒并对会阴部局部麻醉，医生手推手术台车5至病床处，通过锁紧万向轮5-1，使得手术台车5固定。通过控制位置调整机构1，调节前列腺近距离粒子植入机器人在X和Z方向上的位置，使得超声探头3-4到达患者肛门处，穿刺模板3-3位于患者会阴正前方2cm处。医生术前在密封的环境下将放射性粒子125I装入粒子弹夹仓4-1-14，然后将粒子弹夹仓4-1-14安装在粒子植入枪4-1上，至此完成了前列腺近距离粒子植入机器人位置调整和术前准备工作。通过控制超声图像导航模块3，包括了Y轴滑台机构3-1和超声探头旋转机构3-2，来控制超声探头3-4的进给和绕自身轴线的旋转。超声探头3-4的最小进给量为2mm，获取一系列连续的前列腺的断层图像。确定前列腺癌病灶点的位置，通过控制粒子植入模块4和十字关节姿态调整机构2，调整粒子植入枪4-1的位置和姿态，对患者进行粒子植入治疗。在紧急情况下，前列腺近距离粒子植入机器人能够迅速停止，可以通过手动滑轮3-1-3实现手动退回安全区。The working principle of the specific implementation of the present invention: the patient lies on the hospital bed in the lithotomy position, disinfects the perineum before the operation and locally anesthetizes the perineum, the doctor pushes the operating trolley 5 to the hospital bed, and locks the universal wheel 5-1 , so that the operating trolley 5 is fixed. By controlling the position adjustment mechanism 1, adjust the position of the prostate close-range particle implantation robot in the X and Z directions, so that the ultrasonic probe 3-4 reaches the patient's anus, and the puncture template 3-3 is located 2 cm directly in front of the patient's perineum. Before the operation, the doctor put the radioactive particles 125I into the particle magazine compartment 4-1-14 in a sealed environment, and then installed the particle magazine compartment 4-1-14 on the particle implant gun 4-1. Robot position adjustment and preoperative preparation for close-range particle implantation. By controlling the ultrasonic image navigation module 3, which includes a Y-axis slide mechanism 3-1 and an ultrasonic probe rotating mechanism 3-2, the feeding of the ultrasonic probe 3-4 and the rotation around its own axis are controlled. The minimum feed of the ultrasound probes 3-4 is 2 mm, and a series of continuous tomographic images of the prostate are acquired. The position of the prostate cancer lesion is determined, and the position and posture of the particle implantation gun 4-1 are adjusted by controlling the particle implantation module 4 and the cross joint posture adjustment mechanism 2 to perform particle implantation therapy on the patient. In an emergency, the prostate close-range particle implantation robot can stop quickly, and can manually return to the safety zone through the manual pulley 3-1-3.
以上显示和描述了本发明的基本原理和主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments, and what described in the above-mentioned embodiments and the description only illustrates the principles of the present invention, and the present invention will also have other functions without departing from the spirit and scope of the present invention. Variations and improvements all fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810620460.2ACN108969878B (en) | 2018-06-15 | 2018-06-15 | All-round close range particle implantation robot of prostate |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810620460.2ACN108969878B (en) | 2018-06-15 | 2018-06-15 | All-round close range particle implantation robot of prostate |
| Publication Number | Publication Date |
|---|---|
| CN108969878Atrue CN108969878A (en) | 2018-12-11 |
| CN108969878B CN108969878B (en) | 2023-06-06 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810620460.2AActiveCN108969878B (en) | 2018-06-15 | 2018-06-15 | All-round close range particle implantation robot of prostate |
| Country | Link |
|---|---|
| CN (1) | CN108969878B (en) |
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