Targeted particle implanting robot suitable for clinical human lithotomy positions

Abstract

The invention relates to a targeted particle implanting robot suitable for clinical human lithotomy positions. The targeted particle implanting robot includes a rack, and further includes a position and posture adjusting mechanism, a contact force feedback friction wheel type targeted particle implant and a sine elastic amplification moment compensation mechanism; and the specific use steps are asfollows: S1, driving; S2, meshing; S3, swing; S4, transverse movement; S5, compensation moment; S6, linear motion; S7, rotary motion; S8, detection; and S9, transmission of information. The sine elastic amplification moment compensation mechanism is adopted to realize the compensation of lower weight moment of any position shape of a big arm, reduce fluctuation of driving moment, improve stability of tail-end low-speed operation of the robot, combined with the position and posture adjusting mechanism, an external pin of an implant can adjust an incidence angle of the external pin in a fixed-point mode, and in addition, contact force feedback friction wheel type targeted particle implant installed at the tail end of the position and posture adjusting mechanism improves the force information perception ability in the targeted particle implanting process.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a robot suitable for targeting particle implantation in clinical human lithotomy positions. Background technique [0002] According to the 2018 cancer report statistics, there are 4.29 million new cancer cases in China every year, accounting for 20% of the world, and 2.81 million deaths. Brachytherapy is indicated for the treatment of genitourinary system tumors, abdominal tumors, digestive system tumors and intracranial tumors. In this type of clinical surgery, the gland cavity is used as the surgical approach. The doctor holds the particle implantation instrument through the guide template to the epidermis, uses the epidermis as the entrance, punctures the dura mater of the gland, and finally reaches the tumor gland target area for local precise radiation. Through a large number of clinical surgical evaluations, it has been confirmed that this type of surgery has the a...

AI Technical Summary

Problems solved by technology

There are problems in manual brachytherapy: on the one hand, in order to ensure the quality of the operation, doctors have to adjust the path from the percutaneous puncture point to the target point. Generally, tumor patients need to implant hundreds of particles, and the long-term fatigue operation causes hand sensitivity to decrease. Difficult to guarantee ≤2mm accuracy

[0004] Targeted particle implantation robots at home and abroad began in the early 21st century. The University of Rochester in the United States developed a Cartesian coordinate particle implantation robot. The use of moving joints to form a Cartesian coordinate cantilever structure will reduce the overall rigidity, and it takes up less space. Yamato motion responsiveness is also subpar

Cluj-Napoca University of Technology in Romania developed a CRRU+CRU modular parallel particle implantation robot. There is a problem of singularity in the control. Tianjin University designed a hybrid parallel particle implantation robot. Its structure and materials are both Suitable for nuclear magnetic compatibility environment, the overall structure is too complex, it is difficult to control

Generally, the cantilever articulated robot is more suitable for human lithotomy in a narrow space. However, when the cantilever articulated configuration is operated at low speed and high precision, the time-varying gravity will cause large fluctuations in the driving torque, which will deteriorate the stability of the robot's low-speed motion.

In addition, when the robot controls the positioning of the interventional device in the soft tissue, if the puncture process encounters blood vessels, arteries and bones, the robot completely lacks real-time touch force perception ability, and still uses a fixed procedure for puncture, which will inevitably cause serious medical accidents

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