Weight self-balancing radiotherapy particle implantation robot

Abstract

The invention discloses a weight self-balancing radiotherapy particle implantation robot, which particularly relates to the field of medical instruments. The weight self-balancing radiotherapy particle implantation robot comprises an electric moving mechanism, and is characterized in that a 2R positioning mechanism is fixedly connected onto the electric moving mechanism; the big arm and the small arm of the 2R positioning mechanism are provided with vertical crossed spring balance mechanisms, and due to the vertical crossed spring balance mechanisms, in the case of big arm and small arm configuration changes, static moment balance at any position is realized; a duel-screw rod spiral particle implantation mechanism is also fixedly connected onto the 2R initial positioning mechanism; quick initial positioning of a puncture needle can be realized when the electric moving mechanism is matched with the 2R positioning mechanism; and robot cantilever weight moment balance at any position can be realized when the vertical crossed spring balance mechanisms are combined with the 2R positioning mechanism. The near-distance radiotherapy particle implantation surgery precision can be improved, and a new path is opened for near-distance radiotherapy.

Description

technical field [0001] The invention relates to the field of medical equipment, belongs to the interdisciplinary discipline of medicine, machinery and automation, and in particular relates to a weight-balanced radiotherapy particle implantation robot. Background technique [0002] Proximate radioactive seed implantation has the characteristics of strong targeting, no side effects, less trauma, and definite curative effect. It has become a standard method for the treatment of early prostate cancer at home and abroad. Traditional radiotherapy is guided by ultrasound, with the help of a guide plate fixed on the ultrasound bracket, clinicians use a manual particle implanter to place 20 to 120 nickel-titanium alloy-wrapped 125I (144Gy) / 103Pd (120Gy) particles Implanted in the target area, continuous low-dose radiation of γ-rays kills tumor cells. [0003] At present, most of the particle implanters at home and abroad are performed manually by doctors, relying on the clinical exp...

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Problems solved by technology

[0003] At present, most of the particle implanters at home and abroad are performed manually by doctors, relying on the clinical experience of doctors, which makes the accuracy of particle implantation uncertain.

At the same time, the doctor's fatigue and shaking make the operation time longer, and may cause certain harm to the patient. The combination of robotic technology and radiotherapy technology will overcome the shortcomings of the above-mentioned radiotherapy. The radioactive particle implantation robot system is the above-mentioned technology. model of combination

[0004] The short-range radioactive particle implantation robot at home and abroad began in the early 21st century. The University of Rochester developed a Cartesian coordinate particle implantation robot. The use of moving joints to form a Cartesian coordinate cantilever structure will reduce the overall stiffness and occupy space. Larger and poor motion response ability, Romania Cluj-Napoca University of Technology developed a CRRU+CRU modular parallel particle implantation robot, there is a problem of singularity in the control, Tianjin University designed a 5-degree-of-freedom hybrid drive parallel particle implantation robot Implantation robot, its structure and materials are suitable for nuclear magnetic compatibility environment, the overall structure is too complex, and it is difficult to control. Although the brachytherapy particle implantation robot has been studied abroad for many years, due to the complicated operating environment in the patient's body, The performance requirements for robots are high, and many particle implantation robots are still in the laboratory research stage

[0005] When using brachytherapy particle implantation, biopsy or particle implantation operations, the gravitational moment and inertial moment generated will cause the amplitude of the motor drive torque to fluctuate, so that the joint speed fluctuates greatly, and the terminal will also fluctuate when operating at a fixed point. Due to the static error caused by inertia, it is necessary to adopt an effective method for gravity compensation to offset the influence of the mechanism's own gravity and improve its reverse drive performance. However, the particle implantation robots currently studied do not use balancing devices to achieve stable and reliable operations. When the puncture needle at the end of the robot is in contact with soft tissue, there is a problem of unstable control of the end operation force

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