A parallel robot for prostate flexible needle implantation

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...

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

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