A parallel robot for prostate flexible needle implantation

A flexible needle and robot technology, applied in surgical robots, X-ray/γ-ray/particle irradiation 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, The effect of enhancing the treatment effect and improving the accuracy of implantation

Active Publication Date: 2021-06-22
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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  • A parallel robot for prostate flexible needle implantation
  • A parallel robot for prostate flexible needle implantation
  • A parallel robot for prostate flexible needle implantation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0032] Example 1: Such 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, the specific embodiment employed the following technical solution: a prostate flexible pin particle is implanted in parallel, characterized in that it includes a parallel posture adjustment mechanism 1, an ultrasonic image navigation mechanism 2 and a flexible pin granary implant 3, The parallel posture adjustment mechanism 1 is characterized by a lower base 1-1 through a bolt connected to an operating table or other robot arm, an ultrasonic image navigation mechanism 2 is fixed by a bolt, a concatenation posture adjustment. The lower base 1-1 of the mechanism 1, the flexible pin particle implant mechanism 3 is fixed to the upper holder 1-6 of the parallel postal adjustment mechanism 1 by the flexible pin particle implant mechanism 3-1 by the bolt 3-1; the parallel attitude Adjustment mechanism 1 includes a lower ba...

Embodiment 2

[0038] Example 2: Defining the initial power-on position of the implantation of the prostate flexible pin particle;

[0039] According to the apparatus described in Example 1, when the positive gland flexible pin is implanted with the parallel robot in the initial power-on position, the parallel post-oriented adjustment mechanism 1 is in the upper holder 1-6 to drive the flexible needle particle implantation mechanism 3 to maintain pitch, flip And the outer needle apparatus 3-6 in the flexible needle particle implanted mechanism 3 is in the position of the displacement sensor 3-17 contraction to zero, the inner needle device 3-9 is in the rear limit switch 3-10 Power location; translation 2-2 in ultrasound image navigation mechanism 2 is in the limit switch 2-8 position of the translational slider 2-8 at the rear end of the ultrasonic device base 2-1, while the ultrasonic displacement sensor 2-7 and smooth The adjustment distance of the block drive motor mounting end frame 2-9 is ...

Embodiment 3

[0040] Example 3: Primary germ flexible pin particle implanted parallel robot specific implementation principle: First, the patient is lying on the surgical bed with a stone cut position, and disinfecting and anesthesia to the genital position; the parallel posture adjustment mechanism 1 mid-base 1-1 is passed through the bolt Connect with the operating table or other robot, place the radioactive particles 125i in the preoperative sealing environment and insert into the particle implant 3-6-9, by adjusting the parallel post stance adjustment mechanism 1 to make the flexible needle particle implant mechanism 3 The outer needle bracket 3-3 reaches the Yin Yin, and adjust the translational slider 2-2 to enter the ultrasound probe into the anus, complete the preoperative preparation; then, through control translational slider 2-2 and ultrasound Probe fixture 2-6 Pitch, yaw, rotary and other posture makes ultrasonic probes 2-6-9 to obtain a series of prostate diaphragm images in the pa...

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Abstract

The invention discloses a parallel robot for particle implantation of prostate flexible needles, which relates to the field of minimally invasive medical devices. The particle implantation mechanism, ultrasonic image navigation mechanism and multi-sensors adopt a parallel four-degree-of-freedom mode, which not only improves the stability of the stiffness of the end needle, but also satisfies the characteristics of the flexibility of the outer needle movement of the flexible needle particle implantation mechanism. The needle adopts a rotating motor to drive a flexible needle, which can pierce an arc trajectory, avoid obstacles such as nerves and blood vessels of the prostate, and complete the task of one point and more needles. The ultrasonic image navigation mechanism is installed on the support base of the parallel attitude adjustment mechanism, which can complete Linear translation, pitching, yaw, and rotation around its own center line can obtain lesion target images through the anus and rectum, so that doctors can make corresponding treatment according to the real-time needle insertion situation of particle implantation needles. The device integrates multiple sensors, which is convenient for doctors Intraoperative data observation and precise operation meet the safety requirements of high-precision positioning needle insertion and surgery.

Description

Technical field [0001] The present invention relates to the field of minimally invasive medical devices, which belongs to medical, mechanical and automated cross-disciplines, which specifically involves a prostate flexible pin particle implanted parallel robot. Background technique [0002] Prostate cancer is one of the world's male malignant tumors, and the incidence is gradually improved. The treatment of near-radioactive particles is small in wound, fast efficacy, small recurrence, simple operation, and become the main technical means for treating prostate cancer. At present, the treatment of prostate cancer is mainly used by transdermal targeting, and conventional prostate proximity radiation therapy is manually operated by doctors. Due to the uncertainty of manual operation, it is difficult to ensure that the radioactive particles are implanted. Improper, and will cause soft tissue to wrap it, thereby affecting therapeutic effect. [0003] CN106806983A discloses an intellige...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/30A61M36/04A61N5/10
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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