CN112691286A - Hand-simulated prostate particle implantation robot and use method thereof - Google Patents

Abstract

A hand-simulated prostate particle implantation robot and a use method thereof belong to the technical field of medical equipment. The invention solves the problems that the existing robot for implanting the prostate radioactive particles is difficult to realize flexible multi-posture needle insertion task requirements and cannot perform flexible obstacle avoidance tasks. A single-dimensional force sensor and a displacement sensor are installed on the motion mechanism, a six-dimensional force sensor is installed between the particle implantation mechanism and the tail end of the humanoid hand mechanical arm, and the movement of the humanoid arm is carried out through the first motion mechanism, the second motion mechanism, the third motion mechanism and the fourth motion mechanism; the puncture assembly is fixedly connected with the fourth movement mechanism through a main support, and the inner needle assembly is positioned between the puncture assembly and the fourth movement mechanism and is arranged in a sliding manner along the length direction of the main support; the rear end of the puncture needle is inserted in the particle implantation bin and is arranged opposite to the particle outlet on the particle clip; the inner needle and the puncture needle are arranged coaxially, and during the implantation of the radioactive seeds, the inner needle moves towards the front end and passes through the puncture needle to send the radioactive seeds to a target position.

Description

Hand-simulated prostate particle implantation robot and use method thereof

Technical Field

The invention relates to a hand-simulated prostate particle implantation robot and a use method thereof, belonging to the technical field of medical equipment.

Background

Prostate cancer is one of the high-grade malignant tumors in men, and the incidence rate is increased year by year. At present, the treatment of prostate cancer mainly adopts a percutaneous targeted puncture intervention method, and the implantation operation of prostate radioactive particles is completed manually by a doctor or by a robot. However, due to the uncertainty of manual operation, the positioning accuracy is difficult to ensure, which not only results in improper implantation of radioactive particles, but also causes large trauma to soft tissues, thereby affecting the treatment effect.

The robot for implanting radioactive seeds for treating prostate mainly takes a Cartesian coordinate structure as a main part, generally can complete the adjustment of needle inserting positions in three spatial directions and realize the three-dimensional spatial movement of an implanting needle, but the robot structure adopted in the prior art is difficult to realize the flexible multi-posture needle inserting task requirement and cannot perform the flexible obstacle avoidance task.

Therefore, it is necessary to design a target puncture needle with high accuracy, less puncture times, flexible and reliable structure, simple operation, safety and efficiency to assist the doctor to complete the operation of the patient.

Disclosure of Invention

The invention aims to solve the problems that the existing robot for implanting prostate radioactive seeds is difficult to realize flexible multi-posture needle insertion task requirements and cannot perform flexible obstacle avoidance tasks in the operation process, and further provides a human hand-simulated prostate particle implantation robot and a using method thereof.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a human-hand-simulated prostate particle implantation robot comprises a mounting frame, a human-simulated mechanical arm which is vertically and slidably mounted on the mounting frame, and a particle implantation mechanism mounted at the tail end of the human-simulated mechanical arm, wherein the human-simulated mechanical arm comprises first to fourth movement mechanisms which are sequentially hinged, each movement mechanism is provided with a one-dimensional force sensor and a displacement sensor, a six-dimensional force sensor is mounted between the particle implantation mechanism and the tail end of the human-simulated mechanical arm, and the first to fourth movement mechanisms perform human-simulated arm actions;

the particle implantation mechanism comprises a main support, a puncture assembly and an inner needle assembly, wherein the puncture assembly is fixedly connected with the fourth movement mechanism through the main support, and the inner needle assembly is positioned between the puncture assembly and the fourth movement mechanism and is arranged in a sliding manner along the length direction of the main support;

the puncture assembly comprises a particle implantation bin fixedly arranged at the front part of the main support, a particle clip inserted on the particle implantation bin, a front end cover fixedly arranged at the front end of the main support and a puncture needle rotatably penetrated in the front end cover, wherein the rear end of the puncture needle is inserted in the particle implantation bin and is arranged opposite to a particle outlet on the particle clip;

the inner needle assembly comprises an inner needle which is arranged in a rotating mode around the axial direction of the inner needle assembly, the inner needle and the puncture needle are arranged coaxially, and in the process of implanting the radioactive seeds, the inner needle moves towards the front end and penetrates through the puncture needle to send the radioactive seeds to a target position.

Furthermore, two lead screws are arranged on two sides of the main support in parallel and rotatably, the end part of each lead screw is driven by a first driving motor fixedly arranged on two sides of the main support, the inner needle assembly is slidably arranged on the main support through a mounting plate, and the mounting plate is in threaded connection with the two lead screws.

Furthermore, the puncture assembly further comprises a hollow shaft stepping motor, a puncture needle shaft cylinder, a puncture needle chuck and a mounting support, the particle implantation bin is fixedly connected with the front end cover through the mounting support, the hollow shaft stepping motor is fixedly mounted between the front end cover and the mounting support, the puncture needle is fixedly mounted in the puncture needle shaft cylinder through the puncture needle chuck, the puncture needle shaft cylinder is in key connection with the puncture needle shaft cylinder through a hollow shaft of the hollow shaft stepping motor, and the puncture needle sequentially penetrates through the puncture needle chuck and the hollow shaft stepping motor to enter the particle implantation bin.

Furthermore, a particle implantation front guide rod is inserted in the particle implantation bin, the particle cartridge clip is inserted in the particle implantation front guide rod, and the puncture needle is inserted in the particle implantation front guide rod and is butted with a particle outlet of the particle cartridge clip.

Furthermore, the inner needle assembly further comprises a second driving motor, an inner needle shaft cylinder and an inner needle chuck, wherein the second driving motor is fixedly arranged on the mounting plate, the inner needle is fixedly arranged in the inner needle shaft cylinder through the inner needle chuck, and the inner needle shaft cylinder is in key connection with the second driving motor.

Furthermore, a limit stop is fixedly arranged at the bottom end of the mounting plate, and limit switches are respectively arranged at the front part and the rear part of the bottom end of the main support.

Furthermore, the first movement mechanism comprises a first electric cylinder and a first connecting support, the second movement mechanism comprises a second electric cylinder and a second connecting support, the third movement mechanism comprises a third electric cylinder and a third connecting support, and the fourth movement mechanism comprises a fourth electric cylinder and a fourth connecting support, wherein the first connecting support is of a cantilever beam structure, the humanoid mobile phone mechanical arm is vertically and slidably mounted on the mounting frame through the first connecting support, the second connecting support is positioned below the first connecting support and hinged with one end of the first connecting support, the third connecting support is positioned below the second connecting support and hinged with one end of the second connecting support, one end of the fourth connecting support is hinged with the lower part of the third connecting support, and the other end of the fourth connecting support is hinged with a wrist connecting rod; the fixed end and the movable end of the first electric cylinder are respectively hinged below the first connecting support and below the second connecting support, the fixed end and the movable end of the second electric cylinder are respectively hinged on the second connecting support and on the upper part of the third connecting support, the fixed end and the movable end of the third electric cylinder are respectively hinged on the third connecting support and on one end of the fourth connecting support, and the fixed end and the movable end of the fourth electric cylinder are respectively hinged on the fourth connecting support and on the wrist connecting rod.

Furthermore, in every motion, the expansion end of electronic jar is equipped with the connector admittedly, single dimension force transducer adorns admittedly between the expansion end of electronic jar and the connector, displacement sensor is pull rod formula linear displacement sensor, just displacement sensor passes through the mount and adorns admittedly on the cylinder body of electronic jar, and the link is equipped with admittedly between single dimension force transducer and the expansion end of electronic jar, and displacement sensor's pull rod and link rigid coupling.

Further, the mounting bracket comprises a horizontally arranged mounting base, two sliding tables which are arranged in parallel and vertically and fixedly mounted on the mounting base, the humanoid hand mechanical arm further comprises a connecting plate, two end parts of the connecting plate are respectively mounted on the sliding blocks of the two sliding tables, and the other end part of the first connecting support is fixedly connected with the connecting plate.

A use method of the human-hand-simulated prostate particle implantation robot comprises the following steps:

firstly, a patient lies on an operating bed in a lithotomy position, and the perineum part is disinfected and anesthetized; fixing a mounting frame on an operating table, placing radioactive particles 125I into a particle clip and inserting the radioactive particles into a particle implantation bin under a preoperative sealed environment, and enabling the needle point of an outer needle of a particle implantation mechanism to reach the perineum by adjusting the height position of a human-simulated mechanical arm on the mounting frame and the joint positions of arms of the human-simulated mechanical arm according to target point images acquired by TRUS, MRI and CT by a doctor, so as to keep the optimal needle inserting posture and complete preoperative preparation work;

then, the humanoid hand mechanical arm is driven, so that the particle implantation mechanism selects an optimal puncture path according to the acquired target point image, the puncture assembly is driven, the puncture needle is sent to a preset position of a focus point in a rotary needle inserting mode, and through the arrangement of the six-dimensional force sensor, the single-dimensional force sensor and the displacement sensor, the humanoid hand mechanical arm can perform force/position closed-loop control according to the preset puncture position to realize flexible action, and a doctor can perform manual puncture or adjustment according to actual conditions;

then, the inner needle assembly is driven, after the inner needle extends out of the outer needle, the radioactive particles 125I are sent to the target position, and meanwhile, the rotation movement of the inner needle can reduce the friction between the inner needle and the prostate tissue and prevent the particles from being blocked;

and finally, observing the needle position through the TRUS and the MRI image, driving the humanoid hand mechanical arm to withdraw or withdraw the outer needle to the cortex, and adjusting the humanoid hand mechanical arm to enable the particle implantation mechanism to reach the preset puncture position for next particle implantation, thereby realizing the multi-particle implantation task under the condition of least puncture times.

Compared with the prior art, the invention has the following effects:

the particle implantation mechanism adopted in the application, the rotation motion of the inner needle can reduce the friction between the inner needle and the prostate tissue, prevent the particle from being blocked, and ensure that the particle can be smoothly implanted into the appointed focus area.

This application fusion power, displacement sensor, can carry out the construction of multimodal optimization algorithm, realize the gentle and agreeable control of initiative of needle entering motion, when guaranteeing particle implantation needle spatial position accurate positioning, when the needle entering in-process takes place emergency, the doctor can make the judgement according to data information's change condition, take the scram, and simultaneously, when patient's health takes place the aversion suddenly, can accomplish power position hybrid control, realize implanting the needle and make the adjustment along with the change of patient position gesture, improve the security and the reliability of operation.

Adopt imitative people's cell-phone arm structure, through the single-dimensional force transducer and the displacement sensor of installation on every motion, can do power/position closed loop control, so have certain compliance, can accomplish many gestures, the requirement of multi-angle needle insertion, can make the implantation needle when not withdrawing from external operation, adjust the particle implantation route, not only reduce the puncture number of times, save the needle of trading midway, realize a little more needle, and alleviateed patient's operation wound, the treatment effect has been strengthened, simultaneously, the doctor can adopt manual puncture or manual regulation according to actual conditions, and need not the deflector, help the doctor to accomplish the operation to the disease effectively, alleviate the fatigue strength of doctor operation, reduce operation wound, practice thrift the operation time, improve operation safety.

Drawings

FIG. 1 is a schematic perspective view of the present application;

FIG. 2 is a schematic top view of the present application;

FIG. 3 is a schematic front view of the mounting bracket;

FIG. 4 is a schematic perspective view of a humanoid hand mechanical arm;

fig. 5 is an exploded schematic view of the electric cylinder;

FIG. 6 is a schematic view of a first three-dimensional structure of the mechanism for implanting particles;

FIG. 7 is a second perspective view of the mechanism for implanting particles;

FIG. 8 is an exploded view of the spike assembly;

fig. 9 is an exploded view of the inner needle assembly.

Detailed Description

The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 9, and a human-hand-simulated prostate particle implantation robot includes a mounting frame 1, a human-simulatedmechanical arm 2 mounted on the mounting frame 1 in a vertically sliding manner, and aparticle implantation mechanism 3 mounted at the end of the human-simulatedmechanical arm 2, wherein the human-simulatedmechanical arm 2 includes first to fourth movement mechanisms that are hinged in sequence, each movement mechanism is provided with a one-dimensional force sensor 2-6-3 and a displacement sensor 2-6-5, a six-dimensional force sensor 2-12 is mounted between theparticle implantation mechanism 3 and the end of the human-simulatedmechanical arm 2, and the first to fourth movement mechanisms perform human-simulated arm movements;

theparticle implantation mechanism 3 comprises a main bracket 3-1, a puncture component 3-7 and an inner needle component 3-4, wherein the puncture component 3-7 is fixedly connected with the fourth movement mechanism through the main bracket 3-1, and the inner needle component 3-4 is positioned between the puncture component 3-7 and the fourth movement mechanism and is arranged in a sliding manner along the length direction of the main bracket 3-1;

the puncture component 3-7 comprises a particle implantation bin 3-7-2 fixedly mounted at the front part of the main support 3-1, a particle cartridge clip 3-7-3 inserted and mounted on the particle implantation bin 3-7-2, a front end cover 3-7-7 fixedly mounted at the front end of the main support 3-1 and a puncture needle 3-7-11 rotatably mounted in the front end cover 3-7-7, wherein the rear end of the puncture needle 3-7-11 is inserted and mounted in the particle implantation bin 3-7-2 and is arranged opposite to a particle outlet on the particle cartridge clip 3-7-3;

the inner needle assembly 3-4 comprises an inner needle 3-4-5 which is arranged in a rotating mode around the self axial direction, the inner needle 3-4-5 and the puncture needle 3-7-11 are arranged coaxially, and in the process of implanting the radioactive seeds, the inner needle 3-4-5 moves towards the front end and sends the radioactive seeds to a target position through the puncture needle 3-7-11.

The implant magazine 3-7-2 is prior art and will not be described in detail here. Two through holes which are coaxially arranged are formed in the lower part of the particle implantation bin 3-7-2, wherein one through hole is the particle outlet, and in the working process, the inner needle 3-4-5 sequentially penetrates through the two through holes to push the particles to the puncture needle 3-7-11, and finally the particles are sent to a target position.

The puncture needle 3-7-11 is a hollow needle, and the inner needle 3-4-5 is a solid needle.

The power of the first to fourth motion mechanisms is mainly realized by electric cylinders, namely, each motion mechanism is provided with one electric cylinder, and the electric cylinders have the same structure.

The first to fourth motion mechanisms correspond to the shoulder, the big arm, the small arm and the wrist of the human arm in sequence.

The six-dimensional force sensor 2-12 is fixedly connected to the tail end of the humanoid handmechanical arm 2 through a screw and used for collecting force data of theparticle implantation mechanism 3.

The rear end of the particle implantation bin 3-7-2 is provided with a plurality of inner needle supporting guide rods 3-7-1 for supporting the inner needles 3-4-5 to do translational motion.

According to the preset puncture position, six-dimensional force sensors 2-12 are arranged at the tail end of the humanoid handmechanical arm 2, and single-dimensional force sensors 2-6-3 and displacement sensors 2-6-5 are arranged on each motion mechanism, so that force/position closed-loop control can be performed, certain flexibility is achieved, and doctors can puncture or adjust manually according to actual conditions.

This application realizes five degrees of freedom series structures through upper and lower slidable mounting in the imitative people's cell-phone arm 2 on mounting bracket 1, compares in cartesian coordinate structure, parallel structure and RRR series structure, has nimble motion form, wide workspace and the route of inserting the needle of many gestures, and it is more convenient to operate.

Theparticle implantation mechanism 3 and the inner needle 3-4-5 adopted in the application can reduce the friction between the inner needle 3-4-5 and the prostate tissue, prevent the particles from being blocked and ensure that the particles can be smoothly implanted into the appointed focus area.

The fusion force and displacement sensor 2-6-5 can be used for constructing a multi-mode optimization algorithm, active compliance control of needle insertion movement is achieved, accurate positioning of the spatial position of a particle implantation needle is guaranteed, when an emergency occurs in the needle insertion process, a doctor can make judgment according to the change situation of data information, emergency stop is adopted, and meanwhile, when the body of a patient suddenly shifts, force and position hybrid control can be completed, the implantation needle can be adjusted along with the change of the posture of the patient, and the safety and reliability of an operation are improved.

The hand-operatedmanipulator 2 structure of the humanoid hand is adopted, and the force/position closed-loop control can be performed through the single-dimensional force sensors 2-6-3 and the displacement sensors 2-6-5 which are arranged on each motion mechanism, so that the hand-operated manipulator has certain flexibility, the requirements of multi-posture and multi-angle needle insertion can be met, the particle implantation path can be adjusted when the implantation needle does not exit the external operation, the puncture frequency is reduced, needle replacement midway is omitted, a little more needles are realized, the surgical trauma of a patient is relieved, the treatment effect is enhanced, meanwhile, a doctor can perform manual puncture or manual adjustment according to the actual situation, a guide plate is not needed, the doctor is effectively assisted to complete the surgical operation on the patient, the fatigue strength of the surgical operation of the doctor is relieved, the surgical trauma is reduced, the surgical time is saved, and the surgical safety is improved.

Two lead screws 3-5 are rotatably and parallelly arranged on two sides of the main support 3-1, the end part of each lead screw 3-5 is correspondingly driven by a first driving motor 3-13 fixedly arranged on two sides of the main support 3-1, the inner needle assembly 3-4 is slidably arranged on the main support 3-1 through a mounting plate 3-4-1, and the mounting plate 3-4-1 is in threaded connection with the two lead screws 3-5.

The puncture component 3-7 also comprises a hollow shaft stepping motor 3-7-6, a puncture needle shaft barrel 3-7-9, a puncture needle chuck 3-7-10 and a mounting bracket 3-7-5, the particle implantation bin 3-7-2 is fixedly connected with the front end cover 3-7-7 through the mounting bracket 3-7-5, the hollow shaft stepping motor 3-7-6 is fixedly arranged between the front end cover 3-7-7 and the mounting bracket 3-7-5, the puncture needle 3-7-11 is fixedly arranged in the puncture needle shaft barrel 3-7-9 through the puncture needle chuck 3-7-10, the puncture needle shaft barrel 3-7-9 and the hollow shaft of the hollow shaft stepping motor 3-7-6 are connected with the puncture needle shaft barrel 3-7-9 through a key, the puncture needle 3-7-11 sequentially passes through the puncture needle chuck 3-7-10 and the hollow shaft stepping motor 3-7-6 to enter the particle implantation bin 3-7-2. The mounting bracket 3-7-5 and the front end cover 3-7-7 and the mounting bracket 3-7-5 and the particle implantation bin 3-7-2 are fixedly connected through bolts respectively. The puncture needle 3-7-11 is clamped and limited by a puncture needle chuck 3-7-10, and the puncture needle chuck 3-7-10 is arranged at the front part of the puncture needle shaft barrel 3-7-9 in a penetrating way and is locked by a puncture needle chuck fastening bolt. The puncture needle 3-7-11 is driven to rotate by the hollow shaft stepping motor 3-7-6. A first bearing 3-7-8 is arranged between the puncture needle shaft barrel 3-7-9 and the front end cover 3-7-7.

A particle implantation front guide rod 3-7-4 is inserted in the particle implantation bin 3-7-2, the particle cartridge clip 3-7-3 is inserted in the particle implantation front guide rod 3-7-4, and a puncture needle 3-7-11 is penetrated in the particle implantation front guide rod 3-7-4 and is butted with a particle outlet of the particle cartridge clip 3-7-3. The particle implantation front guide rod 3-7-4 is provided with a groove, the particle clip 3-7-3 is inserted in the groove, and then the radioactive particles in the particle clip 3-7-3 are aligned with the needle hole of the puncture needle 3-7-11.

The inner needle assembly 3-4 further comprises a second driving motor 3-4-8, an inner needle shaft barrel 3-4-3 and an inner needle chuck 3-4-4, wherein the second driving motor 3-4-8 is fixedly arranged on the mounting plate 3-4-1, the inner needle 3-4-5 is fixedly arranged in the inner needle shaft barrel 3-4-3 through the inner needle chuck 3-4-4, and the inner needle shaft barrel 3-4-3 is connected with the second driving motor 3-4-8 in a key mode. The inner needle chuck 3-4-4 is arranged in the inner needle shaft barrel 3-4-3 in a penetrating way and is locked by a puncture needle chuck fastening bolt. A second bearing 3-4-6 is arranged between the inner needle shaft barrel 3-4-3 and the mounting plate 3-4-1.

The bottom end of the mounting plate 3-4-1 is fixedly provided with a limit stop 3-4-7, and the front part and the rear part of the bottom end of the main bracket 3-1 are respectively provided with a limit switch 3-9. The limit switch 3-9 is fixedly arranged on the main bracket 3-1 through screws and is used for limiting the translation position of the mounting plate 3-4-1 so as to protect components. The initial position of the mounting plate 3-4-1 in the mechanism for implantingparticles 3 is at the position where the limit stopper 3-4-7 coincides with the limit switch 3-9 at the rear.

The first movement mechanism comprises a first electric cylinder 2-15 and a first connecting support 2-2, the second movement mechanism comprises a second electric cylinder 2-6 and a second connecting support 2-5, the third movement mechanism comprises a third electric cylinder 2-8 and a third connecting support 2-7, the fourth movement mechanism comprises a fourth electric cylinder 2-10 and a fourth connecting support 2-9, wherein the first connecting support 2-2 is a cantilever beam structure, the humanoid hand mechanical arm 2 is vertically and slidably mounted on the mounting frame 1 through the first connecting support 2-2, the second connecting support 2-5 is positioned below the first connecting support 2-2 and is hinged with one end of the first connecting support 2-2, the third connecting support 2-7 is positioned below the second connecting support 2-5 and is hinged with one end of the second connecting support 2-5, one end of a fourth connecting support 2-9 is hinged at the lower part of the third connecting support 2-7, and the other end of the fourth connecting support is hinged with a wrist connecting rod 2-11; the fixed end and the movable end of the first electric cylinder 2-15 are respectively hinged below the first connecting support 2-2 and below the second connecting support 2-5, the fixed end and the movable end of the second electric cylinder 2-6 are respectively hinged on the second connecting support 2-5 and the upper part of the third connecting support 2-7, the fixed end and the movable end of the third electric cylinder 2-8 are respectively hinged on the third connecting support 2-7 and one end of the fourth connecting support 2-9, and the fixed end and the movable end of the fourth electric cylinder 2-10 are respectively hinged on the fourth connecting support 2-9 and the wrist connecting rod 2-11. The fixed end of the electric cylinder is one end of the cylinder body of the electric cylinder. Each electric cylinder drives the connecting support at the movable end of the electric cylinder to turn over, and then drives the adjacent electric cylinders to act. A global coordinate system is established at the middle position of the bottom of the mounting frame 1, the vertical position of the first connecting support 2-2 and the second connecting support 2-5 is defined as a flip angle of 0 degree, the acute angle formed by the second connecting support 2-5 and the third connecting support 2-7 is 60 degrees, the fourth connecting support 2-9 is vertical to the third connecting support 2-7, and the angle formed by the fourth connecting support 2-9 and the wrist connecting rod 2-11 is an angle when theparticle implantation mechanism 3 keeps the posture level.

In each movement mechanism, a connector 2-6-4 is fixedly installed at the movable end of an electric cylinder, a one-dimensional force sensor 2-6-3 is fixedly installed between the movable end of the electric cylinder and the connector 2-6-4, a displacement sensor 2-6-5 is a pull rod type linear displacement sensor 2-6-5, the displacement sensor 2-6-5 is fixedly installed on a cylinder body of the electric cylinder through a fixing frame, a connecting frame 2-6-2 is fixedly installed between the one-dimensional force sensor 2-6-3 and the movable end of the electric cylinder, and a pull rod of the displacement sensor 2-6-5 is fixedly connected with the connecting frame 2-6-2.

The mounting rack 1 comprises a horizontally arranged mounting base 1-1 and two sliding tables 1-3 which are arranged in parallel and vertically and fixedly mounted on the mounting base 1-1, the humanoid-mobilemechanical arm 2 further comprises a connecting plate 2-1, two end parts of the connecting plate 2-1 are respectively mounted on sliding blocks of the two sliding tables 1-3, and the other end part of the first connecting support 2-2 is fixedly connected with the connecting plate 2-1. The mounting rack 1 is fixed on an operating table through a mounting base 1-1, and the bottom end parts of the two sliding tables 1-3 are fixedly arranged on the mounting base 1-1 through two fixed supports respectively. The sliding table 1-3 is a 600mm sliding table 1-3, and the connecting plate 2-1 and the sliding block, the fixed support and the mounting base 1-1, and the sliding table 1-3 and the fixed support are fixedly connected through bolts respectively. The humanoid handmechanical arm 2 is vertically and slidably mounted on the mounting frame 1 through a connecting plate 2-1.

A use method of the human-hand-simulated prostate particle implantation robot comprises the following steps:

firstly, a patient lies on an operating bed in a lithotomy position, and the perineum part is disinfected and anesthetized; fixing a mounting rack 1 on an operating table, placing radioactive particles 125I into a particle cartridge clip 3-7-3 and inserting the radioactive particles into a particle implantation bin 3-7-2 under a preoperative sealed environment, and enabling a needle point of a puncture needle of aparticle implantation mechanism 3 to reach a perineum position by adjusting the height position of a human-simulated mobile phonemechanical arm 2 on the mounting rack 1 and the positions of arm joints of the human-simulated mobile phone mechanical arm 2 (the positions of the arm joints are the positions of motion mechanisms) according to target point images collected by TRUS, MRI and CT by a doctor so as to keep the optimal needle inserting posture and complete preoperative preparation work;

then, the humanoid hand-setmechanical arm 2 is driven, theparticle implantation mechanism 3 selects an optimal puncture path according to the acquired target point image, the puncture component 3-7 is driven, the puncture needle 3-7-11 is sent to a preset position of a focus point in a rotary needle inserting mode, through the arrangement of the six-dimensional force sensor 2-12, the single-dimensional force sensor 2-6-3 and the displacement sensor 2-6-5, the humanoid hand-setmechanical arm 2 can perform force/position closed-loop control according to the preset puncture position to realize flexible action, and a doctor can perform manual puncture or adjustment according to actual conditions;

then, the inner needle assembly 3-4 is driven to deliver the radioactive seeds 125I to the target site after the inner needle 3-4-5 is protruded out of the puncture needle, and meanwhile, the rotational movement of the inner needle 3-4-5 can reduce the friction between the inner needle 3-4-5 and the prostate tissue to prevent the particles from being blocked;

and finally, observing the needle position through the TRUS and MRI images, driving the humanoid handmechanical arm 2 to withdraw or retreat the puncture needle to the cortex, adjusting the humanoid handmechanical arm 2 to enable theparticle implantation mechanism 3 to reach the preset puncture position for next particle implantation, and completing a multi-particle implantation task under the condition of the least puncture times.

Claims (10)

Translated fromChinese

1.一种仿人手的前列腺粒子植入机器人，其特征在于：它包括安装架(1)、上下滑动安装在安装架(1)上的仿人手机械臂(2)以及安装在仿人手机械臂(2)末端的粒子植入机构(3)，其中所述仿人手机械臂(2)包括依次铰接的第一至第四运动机构，每个运动机构上均安装有单维力传感器(2-6-3)及位移传感器(2-6-5)，粒子植入机构(3)与仿人手机械臂(2)的末端之间安装有六维力传感器(2-12)，通过第一至第四运动机构进行仿人手臂的动作；1. a human-like prostate particle implantation robot is characterized in that: it comprises a mounting frame (1), an artificial human-hand mechanical arm (2) that is installed on the mounting frame (1) by sliding up and down and is installed on the artificial human-hand mechanical arm (2) The particle implantation mechanism (3) at the end, wherein the human-like robotic arm (2) includes first to fourth motion mechanisms that are hinged in sequence, and each motion mechanism is provided with a single-dimensional force sensor (2- 6-3) and displacement sensor (2-6-5), a six-dimensional force sensor (2-12) is installed between the particle implantation mechanism (3) and the end of the human-like robotic arm (2). The fourth motion mechanism performs the action of the humanoid arm;所述粒子植入机构(3)包括主支架(3-1)、穿刺组件(3-7)及内针组件(3-4)，其中所述穿刺组件(3-7)与所述第四运动机构之间通过主支架(3-1)固定连接，所述内针组件(3-4)位于穿刺组件(3-7)与第四运动机构之间，且沿主支架(3-1)长度方向滑动设置；The particle implantation mechanism (3) includes a main support (3-1), a puncture assembly (3-7) and an inner needle assembly (3-4), wherein the puncture assembly (3-7) and the fourth The movement mechanisms are fixedly connected through a main bracket (3-1), and the inner needle assembly (3-4) is located between the puncture assembly (3-7) and the fourth movement mechanism, and is located along the main bracket (3-1) Length direction sliding setting;所述穿刺组件(3-7)包括固装在主支架(3-1)前部的粒子植入仓(3-7-2)、插装在粒子植入仓(3-7-2)上的粒子弹夹(3-7-3)、固装在主支架(3-1)前端的前端盖(3-7-7)以及转动穿装在前端盖(3-7-7)内的穿刺针(3-7-11)，所述穿刺针(3-7-11)的后端插装在粒子植入仓(3-7-2)内且与粒子弹夹(3-7-3)上的粒子出口正对布置；The puncture assembly (3-7) includes a particle implantation chamber (3-7-2) fixedly mounted on the front of the main support (3-1), and is inserted into the particle implantation chamber (3-7-2) The particle magazine (3-7-3), the front end cover (3-7-7) fixed on the front end of the main bracket (3-1), and the puncture that is rotated and fitted in the front end cover (3-7-7) Needle (3-7-11), the rear end of the puncture needle (3-7-11) is inserted into the particle implantation chamber (3-7-2) and is connected with the particle magazine (3-7-3) The particle outlet on the top is arranged directly;所述内针组件(3-4)包括绕自身轴向转动设置的内针(3-4-5)，且所述内针(3-4-5)与所述穿刺针(3-7-11)同轴布置，粒子植入过程中，内针(3-4-5)向前端运动并穿过穿刺针(3-7-11)将放射性粒子送入目标位置。The inner needle assembly (3-4) includes an inner needle (3-4-5) that is rotatably arranged around its own axis, and the inner needle (3-4-5) is connected to the puncture needle (3-7- 11) Coaxial arrangement, in the process of seed implantation, the inner needle (3-4-5) moves to the front end and passes through the puncture needle (3-7-11) to send the radioactive particles into the target position.2.根据权利要求1所述的一种仿人手的前列腺粒子植入机器人，其特征在于：主支架(3-1)的两侧平行且转动安装有两个丝杠(3-5)，每个丝杠(3-5)的端部均对应通过固装在主支架(3-1)两侧的第一驱动电机(3-13)驱动，内针组件(3-4)通过安装板(3-4-1)滑动安装在主支架(3-1)上，且安装板(3-4-1)与两个丝杠(3-5)之间螺纹连接。2. A kind of prostatic particle implantation robot imitating human hand according to claim 1 is characterized in that: two lead screws (3-5) are installed in parallel and rotating on both sides of the main support (3-1), and each The ends of each lead screw (3-5) are correspondingly driven by the first drive motors (3-13) fixed on both sides of the main bracket (3-1), and the inner needle assembly (3-4) is driven by the mounting plate ( 3-4-1) is slidably mounted on the main bracket (3-1), and the mounting plate (3-4-1) is threadedly connected with the two lead screws (3-5).3.根据权利要求1或2所述的一种仿人手的前列腺粒子植入机器人，其特征在于：所述穿刺组件(3-7)还包括空心轴步进电机(3-7-6)、穿刺针轴筒(3-7-9)、穿刺针夹头(3-7-10)及安装支架(3-7-5)，粒子植入仓(3-7-2)与前端盖(3-7-7)之间通过安装支架(3-7-5)固接，且空心轴步进电机(3-7-6)固装在前端盖(3-7-7)与安装支架(3-7-5)之间，所述穿刺针(3-7-11)通过穿刺针夹头(3-7-10)固装在穿刺针轴筒(3-7-9)内，所述穿刺针轴筒(3-7-9)与空心轴步进电机(3-7-6)的空心轴与穿刺针轴筒(3-7-9)键连接，穿刺针(3-7-11)依次穿过穿刺针夹头(3-7-10)、空心轴步进电机(3-7-6)进入粒子植入仓(3-7-2)。3. A kind of prostatic particle implantation robot imitating human hand according to claim 1 and 2, is characterized in that: described puncture assembly (3-7) also comprises hollow shaft stepping motor (3-7-6), Puncture needle shaft (3-7-9), puncture needle chuck (3-7-10) and mounting bracket (3-7-5), seed implantation chamber (3-7-2) and front end cover (3 -7-7) are fixedly connected by the mounting bracket (3-7-5), and the hollow shaft stepping motor (3-7-6) is fixedly mounted on the front cover (3-7-7) and the mounting bracket (3) -7-5), the puncture needle (3-7-11) is fixedly mounted in the puncture needle shaft barrel (3-7-9) through the puncture needle chuck (3-7-10), and the puncture needle (3-7-9) The needle shaft barrel (3-7-9) and the hollow shaft of the hollow shaft stepping motor (3-7-6) are keyed to the puncture needle shaft barrel (3-7-9), and the puncture needle (3-7-11) Pass through the puncture needle chuck (3-7-10) and the hollow shaft stepping motor (3-7-6) in turn and enter the particle implantation chamber (3-7-2).4.根据权利要求3所述的一种仿人手的前列腺粒子植入机器人，其特征在于：粒子植入仓(3-7-2)内插装有粒子植入前导杆(3-7-4)，所述粒子弹夹(3-7-3)插装在粒子植入前导杆(3-7-4)中，穿刺针(3-7-11)穿装在粒子植入前导杆(3-7-4)内并与粒子弹夹(3-7-3)的粒子出口对接。4. A kind of prostatic seed implantation robot imitating human hand according to claim 3, is characterized in that: particle implantation chamber (3-7-2) is inserted with particle implantation front guide rod (3-7-4) ), the particle magazine (3-7-3) is inserted into the guide rod (3-7-4) before the particle implantation, and the puncture needle (3-7-11) is inserted into the guide rod (3-7-4) before the particle implantation. -7-4) and docked with the particle outlet of the particle magazine (3-7-3).5.根据权利要求3所述的一种仿人手的前列腺粒子植入机器人，其特征在于：所述内针组件(3-4)还包括第二驱动电机(3-4-8)、内针轴筒(3-4-3)及内针夹头(3-4-4)，其中第二驱动电机(3-4-8)固装在安装板(3-4-1)上，所述内针(3-4-5)通过内针夹头(3-4-4)固装在内针轴筒(3-4-3)内，所述内针轴筒(3-4-3)与第二驱动电机(3-4-8)键连接。5 . The prostate particle implantation robot imitating a human hand according to claim 3 , wherein the inner needle assembly (3-4) further comprises a second driving motor (3-4-8), an inner needle The shaft barrel (3-4-3) and the inner needle chuck (3-4-4), wherein the second drive motor (3-4-8) is fixedly mounted on the mounting plate (3-4-1), the The inner needle (3-4-5) is fixedly mounted in the inner needle shaft barrel (3-4-3) through the inner needle chuck (3-4-4), and the inner needle shaft barrel (3-4-3) Connect with the second drive motor (3-4-8).6.根据权利要求1、2、4或5所述的一种仿人手的前列腺粒子植入机器人，其特征在于：安装板(3-4-1)的底端固装有限位挡块(3-4-7)，主支架(3-1)的底端前部及后部分别安装有限位开关(3-9)。6. A kind of prostatic particle implantation robot imitating human hand according to claim 1,2,4 or 5, is characterized in that: the bottom end of mounting plate (3-4-1) is fixedly installed with limited stopper (3 -4-7), limit switches (3-9) are respectively installed at the front and rear of the bottom end of the main bracket (3-1).7.根据权利要求6所述的一种仿人手的前列腺粒子植入机器人，其特征在于：第一运动机构包括第一电动缸(2-15)和第一连接支座(2-2)，第二运动机构包括第二电动缸(2-6)及第二连接支座(2-5)，第三运动机构包括第三电动缸(2-8)及第三连接支座(2-7)，第四运动机构包括第四电动缸(2-10)及第四连接支座(2-9)，其中所述第一连接支座(2-2)为悬臂梁结构且所述仿人手机械臂(2)通过第一连接支座(2-2)上下滑动安装在安装架(1)上，第二连接支座(2-5)位于第一连接支座(2-2)的下方且与第一连接支座(2-2)的一端部铰接，第三连接支座(2-7)位于第二连接支座(2-5)下方且与第二连接支座(2-5)的一端部铰接，第四连接支座(2-9)的一端铰接在第三连接支座(2-7)的下部，第四连紧接支座的另一端铰接有腕部连杆(2-11)；第一电动缸(2-15)的固定端与活动端分别铰接在第一连接支座(2-2)的下方与第二连接支座(2-5)的下方，第二电动缸(2-6)的固定端与活动端分别铰接在第二连接支座(2-5)上及第三连接支座(2-7)的上部，第三电动缸(2-8)的固定端与活动端分别铰接在第三连接支座(2-7)上及第四连接支座(2-9)的一端，第四电动缸(2-10)的固定端与活动端分别铰接在第四连接支座(2-9)上及腕部连杆(2-11)上。7. A kind of prostatic particle implantation robot imitating human hand according to claim 6 is characterized in that: the first movement mechanism comprises the first electric cylinder (2-15) and the first connecting support (2-2), The second movement mechanism includes a second electric cylinder (2-6) and a second connection support (2-5), and the third movement mechanism includes a third electric cylinder (2-8) and a third connection support (2-7). ), the fourth motion mechanism includes a fourth electric cylinder (2-10) and a fourth connection support (2-9), wherein the first connection support (2-2) is a cantilever beam structure and the human hand The robotic arm (2) is mounted on the mounting frame (1) by sliding up and down through the first connecting support (2-2), and the second connecting support (2-5) is located below the first connecting support (2-2) and is hinged with one end of the first connecting support (2-2), and the third connecting support (2-7) is located below the second connecting support (2-5) and is connected to the second connecting support (2-5). ) is hinged at one end, one end of the fourth connecting support (2-9) is hinged at the lower part of the third connecting support (2-7), and the other end of the fourth connecting support is hinged with a wrist link ( 2-11); the fixed end and the movable end of the first electric cylinder (2-15) are respectively hinged below the first connecting support (2-2) and below the second connecting support (2-5). The fixed end and the movable end of the two electric cylinders (2-6) are hinged on the second connecting support (2-5) and the upper part of the third connecting support (2-7), respectively. The third electric cylinder (2-8) ) are hinged on the third connecting support (2-7) and one end of the fourth connecting support (2-9) respectively, and the fixed end and the moving end of the fourth electric cylinder (2-10) They are respectively hinged on the fourth connecting support (2-9) and on the wrist link (2-11).8.根据权利要求1、2、4、5或7所述的一种仿人手的前列腺粒子植入机器人，其特征在于：每个运动机构中，电动缸的活动端固装有连接头(2-6-4)，所述单维力传感器(2-6-3)固装在电动缸的活动端与连接头(2-6-4)之间，所述位移传感器(2-6-5)为拉杆式直线位移传感器(2-6-5)，且所述位移传感器(2-6-5)通过固定架固装在电动缸的缸体上，单维力传感器(2-6-3)与电动缸的活动端之间固装有连接架(2-6-2)，位移传感器(2-6-5)的拉杆与连接架(2-6-2)固接。8. a kind of prostatic particle implantation robot imitating human hand according to claim 1,2,4,5 or 7, is characterized in that: in each movement mechanism, the movable end of electric cylinder is fixedly equipped with connector (2 -6-4), the single-dimensional force sensor (2-6-3) is fixedly installed between the movable end of the electric cylinder and the connecting head (2-6-4), the displacement sensor (2-6-5) ) is a tie rod type linear displacement sensor (2-6-5), and the displacement sensor (2-6-5) is fixed on the cylinder of the electric cylinder through the fixing frame, and the single-dimensional force sensor (2-6-3 ) and the movable end of the electric cylinder are fixedly connected with a connecting frame (2-6-2), and the tie rod of the displacement sensor (2-6-5) is fixedly connected with the connecting frame (2-6-2).9.根据权利要求8所述的一种仿人手的前列腺粒子植入机器人，其特征在于：所述安装架(1)包括水平布置的安装底座(1-1)、相互平行布置且均垂直固装在安装底座(1-1)上的两个滑台(1-3)，所述仿人手机械臂(2)还包括连接板(2-1)，且连接板(2-1)的两端部分别安装在两个滑台(1-3)的滑块上，所述第一连接支座(2-2)的另一端部与连接板(2-1)固接。9. A human-like prostate particle implantation robot according to claim 8, characterized in that: the mounting frame (1) comprises a horizontally arranged mounting base (1-1), which are arranged parallel to each other and are vertically fixed. Two sliding tables (1-3) mounted on the mounting base (1-1), the human-like robotic arm (2) further includes a connecting plate (2-1), and the two parts of the connecting plate (2-1) The ends are respectively mounted on the sliders of the two sliding platforms (1-3), and the other end of the first connecting support (2-2) is fixedly connected with the connecting plate (2-1).10.一种上述权利要求1-9任一权利要求所述仿人手的前列腺粒子植入机器人的使用方法，其特征在于：它包括如下步骤：10. the use method of the prostatic particle implantation robot of the artificial hand described in any one of the above claims 1-9, it is characterized in that: it comprises the steps:首先，患者以截石位躺在手术床上，并对会阴部位消毒及麻醉；将安装架(1)固定在手术台上，在术前密封环境下，将放射性粒子125I放入粒子弹夹(3-7-3)并插入粒子植入仓(3-7-2)中，医生根据TRUS、MRI及CT采集的靶点图像，通过调整仿人手机械臂(2)在安装架(1)上的高度位置，以及仿人手机械臂(2)的各臂关节位置，使粒子植入机构(3)的穿刺针的针尖到达会阴处，保持最佳进针姿态，完成术前准备工作；First, the patient lies on the operating table in the lithotomy position, and the perineal area is disinfected and anesthetized; the mounting frame (1) is fixed on the operating table, and the radioactive particles 125I are placed in the particle magazine (3) under the preoperative sealing environment. -7-3) and insert it into the implantation chamber (3-7-2), according to the target images collected by TRUS, MRI and CT, the doctor adjusts the position of the human-like robotic arm (2) on the mounting frame (1). The height position, and the position of each arm joint of the human-like robotic arm (2), make the needle tip of the puncture needle of the particle implantation mechanism (3) reach the perineum, maintain the best needle insertion posture, and complete the preoperative preparations;然后，驱动仿人手机械臂(2)，使粒子植入机构(3)按照采集的靶点图像选择最优穿刺路径，驱动穿刺组件(3-7)，将穿刺针(3-7-11)以旋转进针的方式送入病灶点预定位置，通过六维力传感器(2-12)、单维力传感器(2-6-3)及位移传感器(2-6-5)的设置，仿人手机械臂(2)可以根据预定穿刺位置，做力/位闭环控制，实现柔顺动作，医生可根据实际情况采取手动穿刺或调节；Then, drive the human-like robotic arm (2), so that the particle implantation mechanism (3) selects the optimal puncture path according to the collected target image, drives the puncture assembly (3-7), and inserts the puncture needle (3-7-11) The needle is sent into the predetermined position of the lesion by rotating the needle. Through the setting of the six-dimensional force sensor (2-12), the single-dimensional force sensor (2-6-3) and the displacement sensor (2-6-5), the human hand is simulated. The robotic arm (2) can perform force/position closed-loop control according to the predetermined puncture position to achieve a compliant action, and the doctor can manually puncture or adjust it according to the actual situation;随后，驱动内针组件(3-4)，当内针(3-4-5)探出穿刺针后，将放射性粒子125I送入目标位置，同时，内针(3-4-5)的旋转运动可以减小内针(3-4-5)与前列腺组织的摩擦，防止粒子堵塞；Then, drive the inner needle assembly (3-4), when the inner needle (3-4-5) protrudes out of the puncture needle, the radioactive particles 125I are sent into the target position, and at the same time, the rotation of the inner needle (3-4-5) Movement can reduce the friction between the inner needle (3-4-5) and the prostate tissue and prevent particle clogging;最后，经TRUS及MRI图像观察针位，驱动仿人手机械臂(2)将穿刺针退出或退至皮层，调整仿人手机械臂(2)使粒子植入机构(3)至下一粒子植入的预定穿刺位置，实现在最少穿刺次数的情况下，完成多粒子植入任务。Finally, observe the needle position through TRUS and MRI images, drive the human-like robotic arm (2) to withdraw or withdraw the puncture needle to the cortex, and adjust the human-like robotic arm (2) to make the seed implantation mechanism (3) to implant the next seed. The predetermined puncture position can be achieved to complete the multi-particle implantation task with the minimum number of punctures.

Images