Robot for implanting radioactive particles

Abstract

The invention is applicable to the technical field of medical instruments, and discloses a robot for implanting radioactive particles. The robot comprises an external needle puncture device, an internal needle device, a clip device and a posture control device; the external needle puncture device comprises a first supporting frame and a rotatable external needle puncture tube; the internal needledevice comprises an internal needle and an inner needle driving component, the front end of the internal needle can extend into the external needle puncture tube, and the inner needle driving component is used for driving the internal needle to slide along the external needle puncture tube; the external needle puncture device is connected to the posture control device. The robot for implanting theradioactive particles can automatically and continuously implant the radioactive particles and is high in automation degree and excellent in safety and reliability, extrusion of target tissues (target spots) by the external needle puncture tube can be effectively eliminated by rotation of the external needle puncture tube, puncture positioning precision is higher, radioactive particle implantingeffects are better, and the robot is compact in structure and excellent in application effect.

Description

technical field [0001] The invention belongs to the technical field of medical devices, in particular to a robot for implanting radioactive particles. Background technique [0002] Radioactive seed implantation therapy is a special radiation therapy method of radiation therapy. Radiation therapy is one of the three major treatment methods for tumor treatment. Most tumor treatments require radiation therapy. Particle implantation radiotherapy is a minimally invasive surgical treatment method, which has the advantages of simple operation, less trauma in the treatment process, and good treatment effect. At present, seed implantation therapy is mainly applied to malignant tumors including: breast cancer, liver cancer, brain tumor, prostate tumor, head and neck tumor and adrenal gland tumor. [0003] At present, most of the medical particle implantation radiotherapy devices rely on doctors to manually operate the implantation treatment based on their experience. This method cann...

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Problems solved by technology

[0003] At present, most of the medical particle implantation radiotherapy devices rely on doctors to manually operate the implantation treatment based on their experience. This method cannot continuously and automatically implant particles. The operation time is long, it is easy to make the doctor tired, and the treatment efficiency is low. Radioactive particles have certain effects on the surgeon. radiation damage

In addition, the invention of patent CN104162226B provides an automatic device for continuous and automatic implantation of radioactive particles, which provides a detachable clip to store radioactive particles, and does not require doctors to manually implant particles; but the device is installed at the end of the mechanical arm. The puncture of the outer needle is achieved through the motion control of the mechanical arm. The motion control is complex and the puncture accuracy is poor; and the adjustment of the puncture posture needs to rely on the coordinated control of the joint components of the mechanical arm, resulting in complex overall control, high cost, and large overall volume.

Patent CN205127113U discloses an electric particle implantation device for brachytherapy. The puncture movement of the outer needle is realized through the combined transmission of gears and racks, and the puncture movement of the inner needle is realized under the action of friction through two friction wheels. Particles are implanted in the body, the structure is simple, and the control is not complicated; however, there are gaps between the gears, and the transmission accuracy is poor, resulting in large puncture errors; the inner needle puncture type moves under the control of friction through two friction wheels, which is prone to inner needle and friction The wheel slips, resulting in inaccurate control of the inner needle movement and poor reliability

[0004] To sum up, the current medical particle implantation radiation therapy device mainly has problems such as manual operation, incapable of automatic continuous particle implantation, large device size, poor puncture accuracy, single puncture space posture, and inability to achieve multi-angle needle insertion; and the puncture process In the case of puncture, there is a pressing force on tissues and organs, which may easily cause the target point (target point) to be squeezed and shifted, resulting in low puncture accuracy and poor application effect.

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