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...

Examples

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...

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...

Examples

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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