Minimally-invasive intervention ablation system with control-type mechanical arm

Abstract

The invention discloses a minimally-invasive intervention ablation system with a control-type mechanical arm.The minimally-invasive intervention ablation system with the control-type mechanical arm comprises a central control unit, a positioning and imaging device and an ablation executing device.The central control unit comprises a positioning and imaging control unit and an ablation control unit, the positioning and imaging control unit controls the positioning and imaging device to form a lesion part image, and the dimension of the lesion part image is converted into displacement by the ablation control unit according to a preset procedure.The ablation executing device comprises a main machine, the mechanical arm arranged on the main machine and an ablation needle positioned at the tail end of the mechanical arm, and the mechanical arm of the ablation executing device is positioned to the lesion part according to the displacement under control of the ablation control unit so as to perform radiofrequency ablation or microwave ablation on the lesion part image.The minimally-invasive intervention ablation system with the control-type mechanical arm has the advantages of capabilities of positioning the lesion part precisely and protecting doctors from being endangered by radiation and thoroughness in ablation.

Description

technical field [0001] The invention relates to the field of medical instruments, in particular to a control-type mechanical arm minimally invasive interventional ablation system. Background technique [0002] When a lesion occurs inside the human body, and the patient's physical condition does not allow surgical resection, it is sometimes necessary to use puncture to biopsy or treat the lesion (radiofrequency ablation, chemical ablation, radiofrequency ablation). In recent years, the application of radiofrequency ablation has become more and more extensive. Microwave refers to high-frequency electromagnetic waves with a frequency between 300MHz and 300GHz and a wavelength between 1 meter (excluding 1 meter) and 0.1 cm. As a kind of electromagnetic wave, microwave also has wave-particle duality. The energy of microwave quantum is 199×10-25~1.99×10-21 joules. The microwave magnetic field can make the surrounding molecules rotate at a high speed and heat up by friction, so t...

AI Technical Summary

Problems solved by technology

Due to repeated punctures and poor puncture accuracy of tumor targets, surgical complications increase and directly affect the treatment effect

[0004] In addition, the existing stereotactic technology is difficult to apply to other parts of the human body, the main reason is that the position of soft tissues in other parts of the human body is not fixed relative to the surrounding bone tissue, making it difficult to obtain consistent coordinate positioning in the image space and patient space

Therefore, the interventional puncture of other parts of the human body does not have a fixed guiding positioning / posture device that can fix the direction of the puncture needle. Usually, real-time CT images are used to guide, but because there is no puncture guiding positioning / posture, there are still gaps in the puncture process. Blindness, the puncture instrument in the hands of the doctor does not have an objective and accurate position mark, it is difficult to fix the puncture needle on the predetermined trajectory during the puncture process, only relying on the doctor's personal experience, it is necessary to continuously perform image scanning to adjust the direction, the final result may still be There is a certain deviation from the ideal planned route, which is time-consuming and affects the treatment effect

In addition, when the doctor holds the puncture needle with his hand during the CT scan, he will suffer unnecessary radiation exposure

[0005] Due to many human factors, the needle insertion is often inaccurate, which affects the treatment accuracy.

Sometimes it is necessary to repeat the needle for many times, and in severe cases, it will lead to mispuncture, which will bring great pain and risk to the patient

In addition, for tumor patients, incomplete resection may occur during surgery, which is also a serious hidden danger for patients, and may cause recurrence and other consequences due to incomplete tumor resection

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