Multi-degree-of-freedom radioactive particle implantation robot based on ultrasonic guidance

Abstract

The invention discloses a multi-degree-of-freedom radioactive particle implantation robot based on ultrasonic guidance. The multi-degree-of-freedom radioactive particle implantation robot comprises afoundation bed, an XYZ three-axis movement platform, a two-degree-of-freedom rotation joint and a puncture device, wherein the XYZ three-axis movement platform is arranged on the foundation bed and comprises an X-axis movement arm; the two-degree-of-freedom rotation joint is installed on the X-axis movement arm and has a rotation degree of freedom in two directions; the puncture device comprises an installation seat, a puncture needle, a radioactive particle supply mechanism, a pushing mechanism and an ultrasonic probe, wherein the installation seat is arranged on the two-degree-of-freedom rotation joint; the puncture needle is arranged on the installation seat in a sliding way; the radioactive particle supply mechanism is arranged on the installation seat and comprises a cartridge holderused for storing radioactive particles and a pushing rod used for pushing the radioactive particles in the cartridge holder into the puncture needle; the pushing mechanism is arranged on the installation seat and is used for pushing the puncture needle to carry out straight-line needle insertion to a focus zone to implant the radioactive particles; and the ultrasonic probe is arranged on the installation seat and is used for obtaining the image of a focus. The whole robot has an artful structure, is cooperated with the ultrasonic probe to capture and feed back the image of the focus zone in real time, and can automatically, safely and accurately finish radioactive particle implantation surgery.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to an ultrasound-guided multi-degree-of-freedom radioactive particle implantation robot. Background technique [0002] As the most common primary lung tumor, lung cancer is the malignant tumor with the fastest growing morbidity and mortality worldwide and the highest threat to human health and life. Percutaneous lung biopsy can be used to diagnose lung cancer and other lung diseases. At the same time, various tumor ablation techniques based on puncture surgery (such as microwave ablation, radiofrequency ablation, argon-helium knife, etc.) and radioactive particle implantation are newly developed in recent years. minimally invasive tumor therapy techniques. Therefore, lung puncture surgery is of great significance to the detection and treatment of lung tumors. [0003] Internal radiation therapy is guided by CT or magnetic resonance images, using surgical needles to implant...

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Problems solved by technology

[0004] Traditional internal radiation therapy mostly uses manual acupuncture operations based on puncture templates, which have problems such as poor flexibility and low precision, and radioactive particles will also cause radiation damage to radiologists; of course, some lung puncture robots cooperate with radiologists for puncture In surgery, the lung puncture robot first sends the patient into the irradiation area of ​​CT equipment for scanning, and then moves the patient out of the irradiation area after determining the location of the lesion according to the scanned image. Finally, the robot navigation and path planning system guides the doctor to perform manual puncture. The method cannot really display the human body structure and lesion images in real time, and requires experienced radiotherapy doctors to cooperate with the operation. It is difficult to puncture small pulmonary nodules, the operation efficiency is low, and the accuracy and safety of the operation are difficult to guarantee.

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