Detection intervention system, medical equipment and detection intervention method

Abstract

The present invention provides a detection intervention system, medical equipment and detection intervention method. The detection intervention system includes: a gamma-ray detector for detecting molecular imaging information of a patient's lesion area; a puncture mechanism for performing interventional puncture surgery on the lesion area; and a position and posture adjustment mechanism, at the end of which the gamma-ray detector and the puncture mechanism are installed, and can drive the gamma-ray detector and the puncture mechanism to move. The position and posture adjustment mechanism can drive the gamma-ray detector to move to any angle above the lesion area, and can adjust the distance between the gamma-ray detector and the lesion area to obtain molecular imaging information of the lesion area in any direction, thereby improving the image quality of the molecular imaging information. Moreover, the puncture mechanism can directly perform interventional puncture surgery on the lesion area based on the molecular imaging information, without the need for secondary operations, thereby improving efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a detection intervention system, medical equipment and a detection intervention method. Background Art

[0002] SPECT (Single-Photon Emission Computed Tomography) is a nuclear medicine imaging device developed on the basis of a gamma camera. Its basic structure consists of three parts: a probe, a rotating motion frame, and a computer and its auxiliary equipment. At present, when the SPECT machine images the patient's lesion area, the rotating motion frame drives the probe to move in a circle around the patient to obtain metabolic information of the lesion area. However, the direction in which the rotating motion frame drives the probe to rotate is limited, and metabolic information of the lesion area can only be obtained from a fixed direction, resulting in poor imaging quality, which affects the diagnosis of medical staff. Summary of the invention

[0003] Based on this, it is necessary to provide a detection intervention system, medical equipment and detection intervention method for improving image quality to address the problem of poor imaging quality caused by obtaining metabolic information of the lesion area from a fixed direction.

[0004] The above purpose is achieved through the following technical solutions:

[0005] A detection intervention system, comprising:

[0006] Gamma-ray detector, used to detect molecular imaging information of the patient's lesion area;

[0007] A puncture mechanism, used for performing interventional puncture surgery on the lesion area; and

[0008] A position and attitude adjustment mechanism, at the end of which the gamma-ray detector and the puncture mechanism are installed, can drive the gamma-ray detector and the puncture mechanism to move.

[0009] In one embodiment, the position and posture adjustment mechanism includes a mounting seat and a robotic arm assembly disposed on the mounting seat, and the robotic arm assembly includes a serial robotic arm and / or a parallel robotic arm.

[0010] In one embodiment, the mounting seat is detachably disposed on the end surface of the imaging body.

[0011] In one embodiment, the mounting base is arranged on a mounting reference near an end of the imaging body, and the mounting reference includes the ground, a movable base arranged on the ground, a wall or a ceiling.

[0012] In one of the embodiments, the position and posture adjustment assembly further comprises a mounting plate disposed at the end of the robotic arm assembly, and the mounting plate is used to mount the puncture mechanism and / or the gamma-ray detector.

[0013] In one embodiment, the gamma-ray detector and the puncture mechanism are arranged on both sides of the mounting plate, the gamma-ray detector is installed on the surface of the mounting plate facing away from the robotic arm assembly, and the puncture mechanism is installed on the surface of the mounting plate facing the robotic arm assembly.

[0014] In one embodiment, the puncture mechanism includes a support plate disposed on the mounting plate, a linear motion assembly disposed on the support plate, and an interventional instrument connected to the linear motion assembly, and the linear motion assembly drives the interventional instrument to extend to perform an interventional operation.

[0015] In one embodiment, the puncture mechanism further includes a guide assembly, which is disposed on the support plate and connected to the linear motion assembly for guiding the movement of the interventional instrument.

[0016] A detection and intervention method of a detection and intervention system, applied to the detection and intervention system as described in any one of the above technical features, the detection and intervention method comprising:

[0017] Radioactive isotope agents are injected into the patient's body, and the isotope agents focus on the patient to emit gamma rays;

[0018] The position and posture adjustment mechanism drives the gamma-ray detector to move around the patient's body surface to perform radioactivity detection, and determines that the area with high radiation intensity is the lesion area;

[0019] The position and posture adjustment mechanism adjusts the position and posture of the puncture mechanism and controls the puncture mechanism to perform an interventional puncture operation.

[0020] A medical device, comprising an imaging body, a hospital bed and a detection and intervention system as described in any one of the above technical features, wherein the imaging body has a scanning cavity for the hospital bed to move into;

[0021] The position and posture adjustment mechanism can drive the gamma-ray detector to align with the lesion area outside the scanning cavity or inside the scanning cavity to obtain molecular imaging information of the lesion area;

[0022] The position and posture adjustment mechanism can also drive the puncture mechanism to extend into the scanning cavity and control the puncture mechanism to perform interventional puncture surgery;

[0023] The imaging body is an MR device or a CT device.

[0024] After adopting the above technical solution, the present invention has at least the following technical effects:

[0025] The detection intervention system, medical device and detection intervention method of the present invention, when in use, the position and posture adjustment mechanism drives the gamma-ray detector to move around the patient's body surface, so as to determine the patient's lesion area according to the ray intensity, and obtain the molecular imaging information of the lesion area, and then the position and posture adjustment mechanism drives the puncture mechanism to perform the interventional puncture surgery according to the molecular imaging information. In addition, when the position and posture adjustment mechanism obtains the molecular imaging information, it can drive the gamma-ray detector to move to any angle above the lesion area, and can adjust the distance between the gamma-ray detector and the lesion area, effectively solving the problem of poor imaging quality caused by obtaining the metabolic information of the lesion area from a fixed direction, so as to obtain the molecular imaging information of the lesion area in any direction, improve the image quality of the molecular imaging information, and facilitate the diagnosis of medical staff. Moreover, after obtaining the molecular imaging information, the puncture mechanism can directly perform the interventional puncture surgery on the lesion area according to the molecular imaging information, without the need for secondary operation, thereby improving efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A three-dimensional diagram of a detection and intervention system according to an embodiment of the present invention operating on a patient;

[0027] Figure 2 for Figure 1 A three-dimensional view of the detection intervention system shown without the mounting base;

[0028] Figure 3 for Figure 2 A perspective view of a mechanical arm assembly in the detection intervention system shown;

[0029] Figure 4 for Figure 2 A three-dimensional diagram showing a gamma-ray detector and a puncture mechanism in a detection and intervention system installed on a mounting plate;

[0030] Figure 5 for Figure 1 The detection and intervention system shown is a stereoscopic diagram of an imaging body.

[0031] in:

[0032] 100-Detection intervention system;

[0033] 110-position and posture adjustment mechanism;

[0034] 111-mounting seat;

[0035] 112-mechanical arm assembly;

[0036] 1121- rod;

[0037] 1122- joint axis;

[0038] 113-mounting plate;

[0039] 120-gamma ray detector;

[0040] 130-puncture mechanism;

[0041] 131-support plate;

[0042] 132-Linear motion assembly;

[0043] 133-Interventional devices;

[0044] 134-guide assembly;

[0045] 1341-connection block; 13411-card slot;

[0046] 1342-Guide rails;

[0047] 200-patients;

[0048] 300-beds;

[0049] 400-Imaging body. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the following embodiments and the accompanying drawings further describe the detection and intervention system, medical device and detection and intervention method of the present invention in detail. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0051] The serial numbers of the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings). In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0052] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0053] The present invention provides a detection and intervention system 100. The detection and intervention system 100 can be used independently or in conjunction with an imaging body 400 of a medical device. Figures 1 to 3 When the detection and intervention system 100 is used independently, the detection and intervention system 100 can perform radioactive detection on the patient 200 to determine the lesion area of ​​the patient 200, and then obtain molecular imaging information of the lesion area of ​​the patient 200. Figure 1 and Figure 5 When the detection and intervention system 100 is used in conjunction with the imaging body 400, the detection and intervention system 100 can obtain molecular imaging information of the lesion area, and the imaging body 400 can scan the anatomical image information of the patient 200. The molecular imaging information and the anatomical image information can be transmitted to the control system of the medical device, and the control system fuses the two types of information to form fusion information, which can clearly display the specific information of the lesion area, such as location information and real-time dynamic information, etc., so as to guide the interventional puncture surgery in real time and ensure the safety of the surgery.

[0054] Furthermore, the detection intervention system 100 of the present invention can perform radioactive detection on the patient 200 at any angle. When the lesion area is determined, the detection intervention system 100 can be adjusted to any angle above the lesion area, and the distance between the detection intervention system 100 and the lesion area can be adjusted to obtain molecular imaging information of the lesion area in any direction, improve the image quality of the molecular imaging information, and facilitate diagnosis by medical staff. Moreover, after obtaining the molecular imaging information, the detection intervention system 100 can directly perform interventional puncture surgery on the lesion area based on the molecular imaging information, without the need for secondary operations, thereby improving efficiency.

[0055] See also Figures 1 to 3In one embodiment, the detection intervention system 100 includes a gamma-ray detector 120, a puncture mechanism 130, and a position and posture adjustment mechanism 110. The gamma-ray detector 120 is used to detect molecular imaging information of the lesion area of ​​the patient 200. The puncture mechanism 130 is used to perform interventional puncture surgery on the lesion area. The gamma-ray detector 120 and the puncture mechanism 130 are installed at the end of the position and posture adjustment mechanism 110, and can drive the gamma-ray detector 120 and the puncture mechanism 130 to move.

[0056] The gamma-ray detector 120 is used to perform radioactive detection on the patient 200, and can detect the lesion area of ​​the organism and generate a molecular image containing the physiological information of the organism, thereby providing assistance to medical staff for diagnosis and treatment. Specifically, a radioactive isotope agent is injected into a specific organ in the patient 200, and the isotope agent will be enriched in areas where the human body has vigorous metabolism, such as tumors or inflammation, and this area is the lesion area. At the same time, the isotope decays and releases gamma rays. When the gamma-ray detector 120 moves along the surface of the patient 200, it can detect the intensity of the gamma rays released in the patient 200, and determine the area with high ray intensity, such as tumors or inflammation, which is the lesion area. In addition, after the gamma-ray detector 120 receives the ray intensity of the lesion area, the image of the detection points carrying spatial position information detected in all directions is reconstructed through the reconstruction algorithm of the computer, and the spatial distribution of gamma rays in the organism can be obtained, thereby generating a molecular image with gamma-ray information, and then real-time tracking and monitoring of the lesion area of ​​the patient 200.

[0057] In addition, the gamma-ray detector 120 is disposed at the end of the position and attitude adjustment mechanism 110. The position and attitude adjustment mechanism 110 has a motion capability of not less than two degrees of freedom. On the one hand, the position and attitude adjustment mechanism 110 has a large range of motion, so that when the position and attitude adjustment mechanism 110 drives the gamma-ray detector 120 to move, the gamma-ray detector 120 can have a large motion space, so that the gamma-ray detector 120 can perform a comprehensive detection of the patient 200 body to determine the area with high radiation intensity. On the other hand, the position and attitude adjustment mechanism 110 can also adjust the position and / or attitude of its end, thereby realizing the adjustment of the position and attitude of the gamma-ray detector 120, so that the gamma-ray detector 120 can be aimed at the lesion area of ​​the patient 200 at any angle and any distance, so as to obtain a molecular imaging image of the lesion area with higher quality.

[0058] Since the current detector is set in the imaging body, the detector is driven to rotate by the rotating motion frame of the imaging body to realize the radioactivity detection of the patient. However, this type of rotating motion frame has only a single rotational degree of freedom, so that the detector can only detect the image of the patient's lesion area at a single angle, affecting the imaging quality of the image. Therefore, the detection intervention system 100 of the present invention is provided with a gamma-ray detector 120 independent of the imaging body 400, and uses a position and posture adjustment mechanism 110 to drive the gamma-ray detector 120 to achieve a spatial six-degree-of-freedom motion position, so that the gamma-ray detector 120 can perform molecular imaging information imaging of the lesion area at any angle and / or position while performing radioactivity detection on the patient 200, thereby improving the imaging quality of the image and facilitating diagnosis by medical staff.

[0059] Moreover, the detection intervention system 100 of the present invention can implement interventional operations on the lesion area, which is specifically implemented through the puncture mechanism 130. It can be understood that the interventional operations here include but are not limited to puncture, biopsy, ablation and other operations. The puncture mechanism 130 is the main component of the detection intervention system 100 for performing interventional puncture operations. The puncture mechanism 130 can pierce the lesion area of ​​the patient 200 to complete the interventional puncture surgery. In addition, the fusion information after the fusion of the gamma-ray detector 120 and the imaging body 400 can guide the puncture mechanism 130, so that the puncture mechanism 130 can accurately pierce the lesion area of ​​the patient 200, ensuring that the interventional puncture surgery can complete the puncture process accurately, efficiently and safely.

[0060] When the detection intervention system 100 of the above embodiment is used, the position and posture adjustment mechanism 110 drives the gamma-ray detector 120 to move around the body surface of the patient 200, so as to determine the lesion area of ​​the patient 200 according to the intensity of the rays, and obtain the molecular imaging information of the lesion area. Then, the position and posture adjustment mechanism 110 drives the puncture mechanism 130 to perform the interventional puncture surgery according to the molecular imaging information. In addition, when the position and posture adjustment mechanism 110 obtains the molecular imaging information, it can drive the gamma-ray detector 120 to move to any angle above the lesion area, and can adjust the distance between the gamma-ray detector 120 and the lesion area, effectively solving the problem of poor imaging quality caused by obtaining metabolic information of the lesion area from a fixed direction, so as to obtain the molecular imaging information of the lesion area in any direction, improve the image quality of the molecular imaging information, and facilitate the diagnosis of medical staff. Moreover, after obtaining the molecular imaging information, the puncture mechanism 130 can directly perform the interventional puncture surgery on the lesion area according to the molecular imaging information, without the need for secondary operation, thereby improving efficiency.

[0061] See also Figure 2 and Figure 3In one embodiment, the position and posture adjustment mechanism 110 includes a mounting seat 111 and a mechanical arm assembly 112 disposed on the mounting seat 111, and the mechanical arm assembly 112 includes a serial mechanical arm and / or a parallel mechanical arm. The mounting seat 111 plays a role of supporting installation and is used to install the mechanical arm assembly 112, so that the mechanical arm assembly 112 can be installed at any position. Optionally, the mounting seat 111 includes but is not limited to a mounting platform, a mounting column, etc., and can also be other components that can realize the installation of the mechanical arm assembly 112.

[0062] Optionally, the mounting seat 111 is a columnar multi-section structure, and its length can be adjusted to meet the requirements of different heights. Optionally, the mounting seat is provided with a cavity extending along the axial direction, and a signal transmission line / power transmission line is arranged in the cavity, and the signal transmission line / power transmission line connects the gamma-ray detector 120 / surface detection element 130 and the controller.

[0063] The mechanical arm assembly 112 includes a serial mechanical arm and / or a parallel mechanical arm, and at least one serial mechanical arm and / or at least one parallel mechanical arm are connected. That is, the mechanical arm assembly 112 may include at least one serial mechanical arm, and the gamma-ray detector 120 and the puncture mechanism 130 are driven to move through at least one serial mechanical arm connection. The mechanical arm assembly 112 may also include multiple parallel mechanical arms, and the gamma-ray detector 120 and the puncture mechanism 130 are driven to move through at least one parallel mechanical arm connection. Of course, the mechanical arm assembly 112 may also include at least one serial mechanical arm and at least one parallel mechanical arm, and the gamma-ray detector 120 and the puncture mechanism 130 are driven to move through the serial mechanical arm and the parallel mechanical arm. At this time, the parallel mechanical arm is located at the end of the serial mechanical arm. It can be understood that the serial mechanical arm includes multiple rods 1121, which are rotatably connected through the joint shaft 1122. The parallel mechanical arm may include, for example, a stewart platform.

[0064] The present invention is only described by taking the example that the mechanical arm assembly 112 includes a rod 1121. In one embodiment, the mechanical arm assembly 112 includes a plurality of rods 1121 and a plurality of joint shafts 1122, the plurality of rods 1121 are rotatably connected in sequence through the joint shafts 1122, the head ends of the plurality of rods 1121 are rotatably mounted on the mounting seat 111 through the joint shafts 1122, and the ends of the plurality of rods 1121 are rotatably mounted on the gamma-ray detector 120 and / or the puncture mechanism 130 through the joint shafts 1122. The mechanical arm assembly 112 formed by the plurality of rods 1121 has a plurality of degrees of freedom, and the working space of the plurality of joint shafts 1122 connected in series is large, so that the end of the mechanical arm assembly 112 can be moved to any position, thereby driving the gamma-ray detector 120 to perform radioactive detection on the patient 200.

[0065] It is understandable that the robot arm assembly 112 can adopt a three-joint series robot arm, a four-joint series robot arm, a five-joint series robot arm, a six-joint series robot arm or even a more joint series robot arm to meet the movement requirements of different lesion locations. For example, Figure 3 As shown, the mechanical arm assembly 112 is a six-joint serial mechanical arm, and rotatable joint shafts 1122 are provided between adjacent rods 1121, between the rods 1121 and the mounting seat 111, and at the ends of the rods 1121, and the rods 1121 can generate rotations in corresponding directions through the joint shafts 1122. After the six joint rods 1121 are rotatably superimposed, the end of the mechanical arm assembly 112 can have a wide range of motion, so as to drive the gamma-ray detector 120 to move to any position, thereby meeting the needs of radioactive detection of the patient 200.

[0066] Optionally, the detection and intervention system 100 further includes a controller, which can be electrically connected to the gamma-ray detector 120, the mechanical arm assembly 112, and the puncture mechanism 130. The controller can control the gamma-ray detector 120 to detect the gamma-rays emitted by the isotopes in the patient 200 to detect the rays and obtain the molecular imaging information of the lesion area; the controller can control the mechanical arm assembly 112 to move and stop; the controller can control the puncture mechanism 130 to perform the puncture intervention operation. In addition, the controller can also be connected to the control system of the medical device to transmit the molecular imaging information to the control system. The controller can be a computer, a DSP, a single-chip microcomputer, or an FPGA, etc.

[0067] When the gamma-ray detector 120 detects a large area of ​​radioactivity, the controller of the detection intervention system 100 controls the position lock of the mechanical arm assembly 112, thereby preventing the mechanical arm assembly 112 from continuing to move and causing the position of the gamma-ray detector 120 and the puncture mechanism 130 to move, ensuring accurate molecular imaging information of the lesion area and ensuring the accuracy of the operation. For example, the position and posture adjustment mechanism 110 also includes a control motor electrically connected to the controller, and the controller drives the movement of the mechanical arm assembly 112 through the control motor. When the mechanical arm assembly 112 moves to the lesion area and adjusts the required detection angle, the control motor is locked so that the control motor stops moving, thereby achieving the locking of the mechanical arm assembly 112. When the detection angle needs to be adjusted again, the controller unlocks the control motor, and the mechanical arm assembly 112 locks the control motor again after the adjustment is completed.

[0068] Optionally, the controller can automatically control the operation of the gamma-ray detector 120 and the puncture mechanism 130. Of course, in other embodiments of the present invention, the detection and intervention system 100 further includes a manipulator, which is electrically connected to the controller and the mechanical arm assembly 112 and is used to control the movement of the mechanical arm assembly 112 to achieve manual control of the gamma-ray detector 120 and the puncture mechanism 130.

[0069] It is understandable that the mechanical arm assembly 112 drives the gamma-ray detector 120 to perform radioactivity detection in the scanning cavity of the imaging body 400 , and can also perform radioactivity detection outside the scanning cavity of the imaging body 400 .

[0070] It is worth noting that the structure of the gamma-ray detector 120 is the same as that of the detector in the imaging body 400 in the prior art, and both include multiple detector modules, etc. The detection intervention system 100 of the present invention considers the imaging angle of molecular imaging information, so the gamma-ray detector 120 is independent of the imaging body 400, and cooperates with the mechanical arm assembly 112 to adjust the detection angle and position of the gamma-ray detector 120 to ensure the imaging quality of the image. The specific structure of the gamma-ray detector 120 includes at least a collimator, a crystal, a light guide, a photomultiplier tube, and a computing circuit, etc., and its specific functions, setting positions, and connection relationships are not described one by one.

[0071] See also Figure 1 and Figure 5 In one embodiment, the mounting seat 111 is detachably disposed on the end face of the imaging body 400. The detection intervention system 100 of the present invention can be used in conjunction with the existing imaging body 400, without the need for a separate addition, which can reduce costs. When radioactive detection is required, the mounting seat 111 is installed on the end face of the imaging body 400. At this time, the mechanical arm assembly 112 can drive the gamma-ray detector 120 to perform radioactive detection. After the detection is completed, the mounting seat 111 can be removed from the end face of the imaging body 400 to facilitate the storage of the detection intervention system 100 while avoiding affecting the separate imaging of the imaging body 400. Of course, in other embodiments of the present invention, the mounting seat 111 can also be directly fixed to the end face of the imaging body 400.

[0072] In one embodiment, the mounting base 111 is detachably disposed on the hospital bed 300. The patient 200 lies on the hospital bed 300, and the mechanical arm assembly 112 can drive the gamma-ray detector 120 to perform radioactive detection on the patient 200 on the hospital bed 300. When the gamma-ray detector 120 needs to be moved into the scanning cavity, there is no need for the controller to control the mechanical arm assembly 112 to drive the gamma-ray detector 120 to move. The mounting base 111 and the mechanical arm assembly 112 and the gamma-ray detector 120 thereon can be directly driven to move to the scanning cavity through the hospital bed 300. It can be understood that the mounting base 111 is installed on the hospital bed 300 during use and can be removed after use. Of course, in other embodiments of the present invention, the mounting base 111 can also be fixedly installed on the hospital bed 300.

[0073] In one embodiment, the mounting base 111 is disposed on a mounting base near the end of the imaging body 400, and the mounting base includes the ground, a movable base disposed on the ground, a wall or a ceiling. In other words, the mounting base 111 can be disposed near the imaging body 400, so that the mechanical arm assembly 112 can drive the gamma ray detector 120 to move to the end of the imaging body 400, or to the scanning cavity, to achieve radioactive detection of the patient 200 on the bed 300.

[0074] It is worth noting that when the detection intervention system 100 is used alone without the imaging body 400, the mounting base 111 is set on the ground, wall or ceiling near the bed 300. At this time, there may be only the bed 300 in the detection room, or the bed 300 does not enter the imaging body 400, and the gamma ray detector 120 is driven by the mechanical arm assembly 112 near the bed 300 to perform radioactivity detection on the patient 200 on the bed 300.

[0075] See also Figures 1 to 4 In one embodiment, the position and posture adjustment mechanism 110 further includes a mounting plate 113 disposed at the end of the mechanical arm assembly 112, and the mounting plate 113 is used to mount the puncture mechanism 130 and / or the gamma-ray detector 120. The mounting plate 113 serves as a bearing installation to mount the puncture mechanism 130 and the gamma-ray detector 120 at the end of the mechanical arm assembly 112. Optionally, the puncture mechanism 130 and the gamma-ray detector 120 are detachably mounted on the mounting plate 113. Further, the puncture mechanism 130 and the gamma-ray detector 120 are detachably mounted on the mounting plate 113 by means of a screw member.

[0076] Optionally, the mounting plate 113 may only be installed with the gamma-ray detector 120 or the puncture mechanism 130. When the mounting plate 113 is only installed with the gamma-ray detector 120 or the puncture mechanism 130, the gamma-ray detector 120 is first installed on the mounting plate 113, and the mechanical arm assembly 112 first drives the gamma-ray detector 120 to perform radioactive detection to obtain molecular imaging information of the lesion area, and then the gamma-ray detector 120 is removed from the mounting plate 113, and the puncture mechanism 130 is then installed, and the mechanical arm assembly 112 then drives the puncture mechanism 130 to perform interventional puncture surgery.

[0077] Optionally, the gamma-ray detector 120 and the puncture mechanism 130 can be installed on the mounting plate 113 at the same time. That is, the gamma-ray detector 120 and the puncture mechanism 130 are an integrated structure. The mechanical arm assembly 112 first drives the gamma-ray detector 120 to perform radioactive detection to obtain molecular imaging information of the lesion area; then, the mechanical arm assembly 112 can directly drive the puncture mechanism 130 to perform interventional puncture surgery. In this way, there is no need to replace the end, save the process of disassembly and assembly again, and also reduce the re-movement and positioning of the mechanical arm assembly 112, thereby improving efficiency.

[0078] Optionally, the gamma-ray detector 120 and the puncture mechanism 130 may be arranged on opposite sides. In one embodiment, the gamma-ray detector 120 and the puncture mechanism 130 are arranged on both sides of the mounting plate 113, the gamma-ray detector 120 is mounted on the surface of the mounting plate 113 away from the mechanical arm assembly 112, and the puncture mechanism 130 is mounted on the surface of the mounting plate 113 facing the mechanical arm assembly 112. In other words, the gamma-ray detector 120 and the puncture mechanism 130 are mounted on opposite sides of the mounting plate 113, the gamma-ray detector 120 faces the patient 200, and the puncture mechanism 130 faces away from the patient 200.

[0079] The gamma-ray detector 120 is arranged on the side of the mounting plate 113 facing the patient 200, so that the gamma-ray detector 120 directly receives the radiation information in the patient 200. After the puncture mechanism 130 is arranged on the surface of the mounting plate 113 away from the patient 200, the puncture mechanism 130 can be hidden, so that the puncture mechanism 130 does not protrude from the gamma-ray detector 120. In this way, when the gamma-ray detector 120 is close to the patient 200, the puncture mechanism 130 will not interfere with the patient 200, thereby ensuring the accuracy of the use of the detection intervention system 100.

[0080] Of course, in other embodiments of the present invention, the puncture mechanism 130 may also be arranged on the same side as the gamma-ray detector 120. In this case, it is sufficient to ensure that the end surface of the puncture mechanism 130 is flush with the end surface of the gamma-ray detector 120. In this case, a pad or a bracket or other components may be added between the mounting plate 113 and the gamma-ray detector 120.

[0081] Optionally, the gamma-ray detector 120 and the puncture mechanism 130 can also be arranged on the same side of the mounting plate 113 and located on the left and right sides of the joint of the puncture mechanism or the mechanical arm assembly 112. By arranging the gamma-ray detector 120 and the puncture mechanism 130 in this way, the mounting plate 113 can be closer to the patient, the length of the interventional instrument 133 can be reduced, and subsequent puncture surgery can be facilitated; in addition, by adjusting the center of gravity of the puncture mechanism 130, the center of gravity of the gamma-ray detector 120 and the distance between the joint (point) of the mechanical arm assembly 112 (or joint) and the mounting plate 113, the torques of the puncture mechanism 130 and the gamma-ray detector 120 acting on the mounting plate 113 are made equal, so that the spatial positions of the puncture mechanism 130 and the gamma-ray detector 120 can be better balanced, which facilitates more accurate positioning of the puncture mechanism 130.

[0082] In one embodiment, the puncture mechanism 130 includes a support plate 131 disposed on the mounting plate 113, a linear motion assembly 132 disposed on the support plate 131, and an interventional instrument 133 connected to the linear motion assembly 132, and the linear motion assembly 132 drives the interventional instrument 133 to extend to perform an interventional operation. The support plate 131 is used to mount the puncture mechanism 130 on the mounting plate 113. Exemplarily, the support plate 131 is disposed perpendicular to the mounting plate 113. The linear motion assembly 132 is mounted on the support plate 131, and the interventional instrument 133 is mounted at the output end of the linear motion assembly 132. The linear motion assembly 132 can output linear motion to drive the interventional instrument 133 to penetrate into or move out of the lesion area.

[0083] Optionally, the linear motion assembly 132 is a structure that can output linear motion, such as a motor with a ball screw structure, such as a motor with a belt drive structure, such as a telescopic motor, a cylinder, etc. Exemplarily, the linear motion assembly 132 includes a motor, a screw connected to the output end of the motor, and a nut that can rotate along the screw, and the nut can be installed with the interventional instrument 133. When the motor rotates, it can drive the screw to rotate, and then the nut moves along the axial direction of the screw to drive the interventional instrument 133 to extend or retract.

[0084] Optionally, the interventional device 133 is a puncture needle. The puncture needle includes but is not limited to a biopsy needle, a radiofrequency ablation needle, a microwave ablation needle, or a puncture and drainage needle. Of course, in other embodiments of the present invention, the interventional device 133 may also include a non-contact treatment component, etc. The non-contact treatment component includes but is not limited to a radiation source for radiotherapy, etc.

[0085] In one embodiment, the puncture mechanism 130 further includes a guide assembly 134, which is disposed on the support plate 131 and connected to the linear motion assembly 132, and is used to guide the movement of the interventional instrument 133. The guide assembly 134 is used to guide the linear motion output by the linear motion assembly 132, so as to prevent the nut from moving and causing the intervention angle of the interventional instrument 133 to change, thereby ensuring the safety of the interventional surgery. Exemplarily, the guide assembly 134 includes a guide rail 1342 and a connecting block 1341 slidably disposed on the guide rail 1342, and the connecting block 1341 is connected to the nut. When the nut moves along the axial direction of the screw rod, it can drive the connecting block 1341 to slide along the guide rail 1342, thereby ensuring that the movement trajectory of the connecting block 1341 is accurate. Optionally, a card slot 13411 is provided on the connecting block 1341, which is used to detachably install the interventional instrument 133, so as to facilitate the replacement of the interventional instrument 133.

[0086] Furthermore, the end of the mounting plate 113 is provided with a through hole penetrating the upper and lower surfaces of the mounting plate, and the interventional instrument 133 can pass through the through hole. Optionally, the through hole can be a V-shaped hole, and the interventional instrument 133 is adjacent to the bottom of the V-shaped hole. The V-shaped hole can facilitate the installation of the interventional instrument and assist in positioning the interventional instrument 133.

[0087] The present invention also provides a detection intervention method of the detection intervention system 100. The detection intervention method is applied to the detection intervention system 100 of any of the above embodiments. The detection intervention method includes:

[0088] A radioactive isotope agent is injected into the patient 200, and the isotope agent is accumulated at the lesion site in the patient 200 and emits gamma rays;

[0089] The position and posture adjustment mechanism 110 drives the gamma-ray detector 120 to move around the body surface of the patient 200 to perform radioactive detection, and determines that the area with high radiation intensity is the lesion area;

[0090] The position and posture adjustment mechanism 110 adjusts the position and posture of the puncture mechanism 130 and controls the puncture mechanism 130 to perform an interventional puncture operation.

[0091] When the detection intervention system 100 is used, the gamma-ray detector 120 and the puncture mechanism 130 are first installed at the end of the mechanical arm assembly 112. Then, the medical staff injects the radioactive isotope agent into the patient 200. The isotope agent will be enriched in the metabolically active areas in the patient 200, such as tumors or inflammation areas, and the isotope agent will decay and release gamma rays. The mechanical arm assembly 112 of the position and posture adjustment mechanism 110 drives the gamma-ray detector 120 to move around the body surface of the patient 200 to perform radioactive detection. The gamma-ray detector 120 can receive the radiation information in the patient 200 and determine the area with high radiation intensity, which is the lesion area. At this time, the gamma-ray detector 120 can generate molecular imaging information after receiving the radiation information of the lesion area. Then, the mechanical arm assembly 112 drives the puncture mechanism 130 to perform the interventional puncture surgery according to the position of the lesion area detected by the gamma-ray detector 120 and under the guidance of the molecular imaging information.

[0092] See also Figure 5The present invention also provides a medical device, including an imaging body 400, a bed 300, and the detection and intervention system 100 in the above embodiment. The imaging body 400 has a scanning cavity for the bed 300 to move into. The position and posture adjustment mechanism 110 can drive the gamma-ray detector 120 to align with the lesion area outside or inside the scanning cavity to obtain molecular imaging information of the lesion area. The position and posture adjustment mechanism 110 can also drive the puncture mechanism 130 to extend into the scanning cavity and control the puncture mechanism 130 to perform an interventional puncture operation. After the medical device of the present invention adopts the detection and intervention system 100 of the above embodiment, the fusion information of the lesion area is obtained by the cooperation of the gamma-ray detector 120 independent of the imaging body 400 and the imaging body 400. At the same time, the mechanical arm assembly 112 can drive the puncture mechanism 130 to extend into the scanning cavity when performing an interventional puncture operation. Subsequently, the linear motion assembly 132 drives the interventional instrument 133 to move according to the fusion information to puncture the lesion area of ​​the patient 200 to complete the interventional puncture operation. Moreover, after the gamma-ray detector 120 is independent of the imaging body 400, the mechanical arm assembly 112 can drive the gamma-ray detector 120 to image the lesion area at any angle and any position, thereby improving the imaging quality and facilitating diagnosis by medical staff.

[0093] The imaging body 400 may be a magnetic resonance imaging (MR) device or a computed tomography (CT) device. The real-time interventional puncture guided by the gamma-ray detector 120 and MR or CT has great clinical value, especially the formation of real-time fusion information, which can simultaneously obtain anatomical structure, functional imaging, and metabolic imaging information. Under the guidance of the fusion information, the puncture process can be completed accurately, efficiently, and safely.

[0094] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0095] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A detection intervention system, characterized in that: include: Gamma-ray detector, used to detect molecular imaging information of the patient's lesion area; A puncture mechanism, used for performing interventional puncture surgery on the lesion area; as well as A position and attitude adjustment mechanism, the gamma-ray detector and the puncture mechanism are installed at the end of the position and attitude adjustment mechanism, and can drive the gamma-ray detector and the puncture mechanism to move; Wherein, the position and posture adjustment mechanism has a movement capability of not less than two degrees of freedom.

2. The detection intervention system according to claim 1, characterized in that: The position and posture adjustment mechanism includes a mounting seat and a mechanical arm assembly disposed on the mounting seat, and the mechanical arm assembly includes a serial mechanical arm and / or a parallel mechanical arm.

3. The detection intervention system according to claim 2, characterized in that: The mounting seat is detachably arranged on the end surface of the imaging body.

4. The detection intervention system according to claim 2, characterized in that: The robotic arm assembly includes a plurality of rods and a plurality of joint shafts, wherein the plurality of rods are rotatably connected in sequence via the joint shafts, the head ends of the plurality of rods are rotatably mounted on the mounting seat via the joint shafts, and the tail ends of the plurality of rods are rotatably mounted on the gamma-ray detector and / or the puncture mechanism via the joint shafts.

5. The detection intervention system according to claim 2, characterized in that: The mounting seat is arranged on a mounting base near the end of the imaging body, and the mounting base includes the ground, a movable seat arranged on the ground, a wall or a ceiling.

6. The detection intervention system according to any one of claims 2 to 5, characterized in that: The position and posture adjustment mechanism also includes a mounting plate arranged at the end of the mechanical arm assembly, and the mounting plate is used to mount the puncture mechanism and / or the gamma-ray detector.

7. The detection intervention system according to claim 6, characterized in that: The gamma-ray detector and the puncture mechanism are arranged on both sides of the mounting plate. The gamma-ray detector is mounted on the surface of the mounting plate away from the mechanical arm assembly, and the puncture mechanism is mounted on the surface of the mounting plate facing the mechanical arm assembly.

8. The detection intervention system according to claim 7, characterized in that: The puncture mechanism includes a support plate arranged on the mounting plate, a linear motion component arranged on the support plate, and an interventional instrument connected to the linear motion component, and the linear motion component drives the interventional instrument to extend to perform an interventional operation.

9. The detection intervention system according to claim 8, characterized in that: The puncture mechanism also includes a guide assembly, which is disposed on the support plate and connected to the linear motion assembly for guiding the movement of the interventional instrument.

10. A medical device, characterized in that: The device comprises an imaging body, a bed and the detection and intervention system according to any one of claims 1 to 9, wherein the imaging body has a scanning cavity for the bed to move into; The position and posture adjustment mechanism can drive the gamma-ray detector to align with the lesion area outside the scanning cavity or inside the scanning cavity to obtain molecular imaging information of the lesion area; The position and posture adjustment mechanism can also drive the puncture mechanism to extend into the scanning cavity and control the puncture mechanism to perform interventional puncture surgery; The imaging body is an MR device or a CT device.

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