Parallel robot for prostate flexible needle particle implanting

A flexible needle and robot technology, applied in X-ray/γ-ray/particle irradiation therapy, radiation therapy, treatment, etc., can solve problems such as difficult to guarantee positioning accuracy, affect treatment effect, soft tissue trauma, etc., and achieve precise spatial position positioning, Enhance the effect of treatment and improve the effect of implantation accuracy

Active Publication Date: 2019-05-21
FOSHAN BAIKANG ROBOT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the treatment of prostate cancer mainly adopts the method of percutaneous targeted puncture intervention. Traditional prostate brachytherapy is manually operated by doctors. Improper, and will cause large soft tissue trauma, thus affecting the treatment effect
[0003] CN106806983A discloses an intelligent prostate particle implantation device, which realizes the three-dimensional space movement of the implant needle through a three-dimensional drive platform, but the device only has horizontal movement in three directions in space, and cannot realize flexible and multi-position needle insertion task requirements
[0004] CN105727431B discloses a TRUS image navigation multi-channel prostate close-range radioactive particle implantation robot. The device can complete the adjustment of the needle insertion position in three directions in space, and combines with the TRUS image navigation system to improve the accuracy of the puncture position. However, the device is used in a large number of In the process of implanting particles, the multi-channel puncture method is used, which is likely to cause large-scale trauma to multiple patients, and cannot perform flexible obstacle avoidance

Method used

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  • Parallel robot for prostate flexible needle particle implanting
  • Parallel robot for prostate flexible needle particle implanting
  • Parallel robot for prostate flexible needle particle implanting

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0032] Embodiment 1: as figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 , Figure 12 As shown, this specific embodiment adopts the following technical solutions: a prostate flexible needle particle implantation parallel robot, characterized in that: it includes a parallel attitude adjustment mechanism 1, an ultrasonic image navigation mechanism 2 and a flexible needle particle implantation mechanism 3, its It is characterized in that: the lower base 1-1 of the parallel attitude adjustment mechanism 1 is connected to the operating table or other mechanical arms through bolts, and the ultrasonic image navigation mechanism 2 is fixed on the parallel attitude adjustment mechanism 2 via the ultrasonic device base 2-1 through bolts. The lower base 1-1 of the mechanism 1, the flexible needle particle implantation mechanism 3 is fixed on the upper support 1-6 of the parallel attitude adjustment...

Embodiment 2

[0038] Embodiment 2: Define the initial power-on position of the prostate flexible needle particle implantation parallel robot;

[0039] According to the device described in Example 1, when the prostate flexible needle particle implantation parallel robot is in the initial power-on position, the upper support 1-6 in the parallel attitude adjustment mechanism 1 drives the flexible needle particle implantation mechanism 3 to keep pitching and turning over And the yaw angle is zero, the outer needle device 3-6 in the flexible needle particle implantation mechanism 3 is at the position where the displacement sensor 3-17 shrinks to zero, and the inner needle device 3-9 is at the off-off position of the rear limit switch 3-10. Electrical position; the translation slider 2-2 in the ultrasonic image navigation mechanism 2 is in the position of the rear limit switch 2-8 of the translation slider at the rear end of the ultrasonic device base 2-1, and at the same time, the ultrasonic disp...

Embodiment 3

[0040] Example 3: Prostate Flexible Needle Particle Implantation Parallel Robot The specific implementation principle: First, the patient lies on the operating bed in the lithotomy position, and the perineum is disinfected and anesthetized; the lower base 1-1 of the parallel attitude adjustment mechanism 1 is passed through the bolts Connect with the operating table or other mechanical arms, put the radioactive particles 125I into the magazine and insert them into the particle implantation chamber 3-6-9 in a sealed environment before operation, and make the flexible needle particle implantation mechanism 3 by adjusting the parallel attitude adjustment mechanism 1 The outer needle support 3-3 of the needle reaches the perineum, and at the same time, adjust the translation slider 2-2 to make the ultrasonic probe 2-6-9 enter the anus, and complete the preoperative preparation; then, control the translation slider 2-2 and the ultrasound The pitch, yaw, and rotation attitudes of the...

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Abstract

The invention discloses a parallel robot for prostate flexible needle particle implanting, and relates to the field of minimally-invasive medical apparatuses. The parallel robot has the advantages ofbeing small in size, compact in structure, convenient to operate, free of guide of guiding plates and the like. The parallel robot comprises a parallel posture adjustment mechanism, a flexible needleparticle implanting mechanism, an ultrasonic image navigation mechanism and multiple sensors; a parallel four-degree-of-freedom mode is adopted, the stability of the rigidity of a tail entry needle isimproved, and the outer needle movement flexibility of the flexible needle particle implanting mechanism is also met; a rotary-motor-driven flexible needle is adopted as an inner needle, an arc trackcan be formed through puncturing, obstacles of nerves, blood vessels and the like of the prostate are avoided, and the task of many needles at one point is completed. The ultrasonic image navigationmechanism is installed on a supporting base of the parallel posture adjustment mechanism, and can complete linear translation, pitching, yawing, and rotation around the center line of the ultrasonic image navigation mechanism, and focus target images are obtained via the anorectum so that a doctor can make corresponding processing according to real-time needle entry situations of particle implanting needles. The parallel robot is merged with the multiple sensors, so that the doctor conveniently carries out data observation and precise operation in a surgery, and the requirements for high precision positioning of entry needles and the safety of the surgery are met.

Description

technical field [0001] The invention relates to the field of minimally invasive medical equipment for the prostate, belongs to the interdisciplinary discipline of medical treatment, machinery and automation, and specifically relates to a parallel robot for particle implantation of prostate flexible needles. Background technique [0002] Prostate cancer is one of the highest incidences of male malignant tumors in the world, and the incidence rate is gradually increasing. Brachytherapy with radioactive seed implantation has the advantages of less trauma, faster curative effect, less chance of recurrence and easy operation, so it has become the main technical means for the treatment of prostate cancer. At present, the treatment of prostate cancer mainly adopts the method of percutaneous targeted puncture intervention. Traditional prostate brachytherapy is manually operated by doctors. Improper, and will cause a large area of ​​soft tissue trauma, thereby affecting the treatmen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61M36/04A61N5/10
Inventor 张永德李冰左思浩姜金刚魏然闵兆伟
Owner FOSHAN BAIKANG ROBOT TECH CO LTD
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