A corrector for improving puncture precision of a prostate particle implant needle

Abstract

The application discloses a corrector for improving puncture precision of a prostate particle implantation needle, which comprises a base, a needle body support frame, an electric driving mechanism and two guide rails arranged on the base, and a sensor stable moving table arranged on the two guide rails, wherein the electric driving mechanism is used for driving the sensor stable moving table to move on the two guide rails; when the position of a needle tip is corrected, the corrector exerts a correction force on the needle body, so that the safety of the operation is improved, and the correction force is exerted on the particle implantation needle in the form of point force by designing a guide needle hole of a guide needle device as a convex point structure hole; the value obtained by a force sensor is the correction force on the needle body in the Y-axis direction, so that the precision of the exertion of the correction force is improved; and the position of the needle tip is corrected by using the correction force in the puncture process, so that the needle tip reaches a target target point, doctors do not need to pull out the needle body for secondary puncture, and precise puncture is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of prostate minimally invasive medical devices, in particular to a corrector for improving the puncture accuracy of a prostate particle implantation needle. BACKGROUND

[0002] Prostate cancer is one of the high-incidence malignant tumors in the world, and the incidence is gradually increasing. Particle implantation treatment has the advantages of small trauma, fast effect, small recurrence rate and simple operation, so it has become the main technical means for treating prostate cancer. Prostate particle implantation adopts a percutaneous targeted puncture intervention method. In the process of prostate particle implantation, the tip and body of the particle implantation needle (which is a semi-flexible needle) interact with the punctured tissue. The interaction between the needle and the tissue will cause the deflection of the particle implantation needle during particle implantation, resulting in the inability of the needle tip to reach the planned position, low puncture accuracy, and the need for the doctor to pull out the particle implantation needle and re-puncture, causing secondary injury to the patient.

[0003] Patent application No. CN201911073391.9 discloses an electric gear and rack type prostate particle implantation device. The device uses a friction wheel transmission to achieve internal needle implantation, and uses a gear and rack transmission to achieve external needle feeding, achieving fully automatic particle implantation. However, the device cannot modify the position of the needle tip during the operation.

[0004] Patent application No. CN 201510084488.5 discloses a close-range image navigation fully automatic radioactive particle implantation device. The device is divided into a puncture needle adjustment module and a particle implantation module. The puncture needle adjustment module adjusts the position of the needle tip by rotating the puncture needle. However, the device has the following disadvantages: adjusting the position of the needle tip by rotating the needle will cause the needle body to adhere to the surrounding tissue, causing secondary injury to the patient. SUMMARY

[0005] The present application aims to provide a corrector for improving the puncture accuracy of a prostate particle implantation needle, to solve the technical problem that existing prostate cancer particle implantation devices cannot modify the position of the needle tip during the operation without causing secondary injury to the patient.

[0006] To achieve the above-mentioned purpose, the technical scheme of the corrector for improving the puncture accuracy of a prostate particle implantation needle provided by the present application is as follows:

[0007] A corrector for improving the puncture accuracy of a prostate particle implantation needle, comprising a base, a needle body support frame, an electric drive mechanism and two guide rails arranged on the base, a sensor stable moving table arranged on the two guide rails, and the electric drive mechanism being used to drive the sensor stable moving table to move on the two guide rails.

[0008] The force sensor is installed on the sensor stable moving table, the convex point guide needle device is fixed on the force sensor, the guide needle hole is arranged on the convex point guide needle device, the guide needle hole and the needle body support frame are used for penetrating the support particle implantation needle, the axis of the guide needle hole is perpendicular to the guide rail; the guide needle hole is composed of two circular table holes, the two circular table holes are symmetrically arranged, and the diameter of the connecting surface of the two circular table holes is equal to the outer diameter of the particle implantation needle.

[0009] Further, the electric drive mechanism comprises a motor and a rack, the motor seat is fixed on the needle body support frame, the motor is installed on the motor seat, the main shaft of the motor is provided with a gear, the rack is installed on the sensor stable moving table, and the rack is parallel to the guide rail, and the gear is engaged with the rack.

[0010] Further, the sensor stable moving table comprises a mounting frame and two side plates, the two side plates are fixed on the two sides of the mounting frame, the bottom of the mounting frame is provided with four first micro bearings, and the bottom of each side plate is provided with two second micro bearings.

[0011] The cross section of the guide rail is T-shaped, the guide rail is composed of a web and a transverse plate, the mounting frame of the sensor stable moving table is located between the two guide rails, and the four first micro bearings at the bottom of the mounting frame are rollingly supported on the base; the two guide rails are located between the two side plates of the sensor stable moving table, and the two second micro bearings at the bottom of one of the side plates are rollingly supported on the web of the guide rail, and the two second micro bearings at the bottom of the other side plate are rollingly supported on the web of the other guide rail.

[0012] Compared with the prior art, the present application has the following advantages: when correcting the position of the needle tip, the present application applies a correction force to the needle body without causing damage to the tissue in contact with the needle body, thereby improving the safety of the operation; and the guide needle hole of the guide needle device is designed as a convex point structure hole, so that the correction force is applied to the particle implantation needle in the form of point force, and the value obtained by the force sensor is the correction force received by the needle body in the Y-axis direction, thereby improving the precision of the correction force application; in summary, the present application uses the correction force to correct the position of the needle tip during the puncture process, so that the needle tip reaches the target target point, avoids the doctor pulling out the needle body and performing secondary puncture, and realizes precise puncture. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 A structure diagram of a corrector for improving the puncture precision of the prostate particle implantation needle is provided in the present application;

[0014] Figure 2 A structure diagram of another view of a corrector for improving the puncture precision of the prostate particle implantation needle is provided in the present application;

[0015] Figure 3 A structure diagram of a sensor stable moving table in the present application;

[0016] Figure 4 This is a structural diagram of the convex dot guide needle in this invention;

[0017] Figure 5 for Figure 4 Sectional view at point AA;

[0018] Figure 6 The diagram shows the operation process of the corrector for improving the puncture accuracy of prostate particle implantation needles provided by the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention; that is, the described embodiments are merely some embodiments of the invention, not all embodiments. The components of the embodiments of the invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0021] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the process or method that includes said element.

[0022] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linkage" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the term "have" should be interpreted broadly. For example, the object "have" can be a part of the main body, or it can be separately arranged from the main body and connected to it. This connection can be detachable or non-detachable. Those skilled in the art can understand the specific meaning of the above terms in this invention through specific circumstances.

[0024] The present invention will be further described in detail below with reference to the embodiments.

[0025] Specific embodiment 1 of the corrector for improving the puncture accuracy of prostate particle implantation needle provided by the present invention:

[0026] In this embodiment, as Figures 1-5 As shown, a corrector for improving the puncture accuracy of prostate particle implantation needles mainly consists of a force sensor 1, a protruding needle guide 2, a motor base 3, a motor stabilizing belt 4, a needle support frame 5, a sensor smooth moving platform 6, two T-shaped guide rails 7, a rack 8, a base 9, a gear 10, and a motor 11.

[0027] Specifically, the sensor stabilizing platform 6 is mounted on two guide rails 7 and is driven by an electric drive mechanism consisting of a gear 10, a rack 8, and a motor 11. This electric drive mechanism drives the sensor stabilizing platform 6 to move on the two guide rails 7 in the Y-axis direction. The rack 8 is fixed to the sensor stabilizing platform 6 by pins, and the motor 11 is fixed to the motor 11 base 3 by pins. The motor 11 stabilizing belt 4 is fixed to the needle support frame 5 and the base 9 by pins. The motor 11 stabilizing belt 4 is in close contact with the motor 11 to stabilize the motor 11. The rack 8 is fixed to the sensor stabilizing platform 6, and the motor 11 drives the sensor stabilizing platform 6 to move on the guide rails 7 through the meshing transmission between the gear 10 and the rack 8.

[0028] The protruding needle guide 2 and the needle support frame 5 are used to pass through and support the particle implantation needle 12. The force sensor 1 is fixed on the sensor stable moving platform 6 by a pin. The protruding needle guide 2 is fixed on the force sensor 1 by a pin. The protruding needle guide 2 is provided with a needle guide hole 13, which is composed of two frustum holes. The two frustum holes are symmetrically arranged, and the diameter of the connecting surface of the two frustum holes is equal to the outer diameter of the particle implantation needle 12. When a corrective force is applied, the needle guide hole 13 applies a corrective force F to the particle implantation needle 12 in the Y-axis direction in a point-applying manner.

[0029] To reduce friction between the sensor smoothing stage 6 and the guide rail 7 and the base 9, the sensor smoothing stage 6 includes a mounting frame 14 and two side plates 15. The two side plates 15 are fixed to both sides of the mounting frame 14. The bottom of the mounting frame 14 is provided with four first micro bearings 16, and the bottom of each side plate 15 is provided with two second micro bearings 17. The four first micro bearings 16 make rolling contact with the base 9 to reduce the friction between the mounting frame 14 and the base 9, while the four second micro bearings 17 make contact with the T-shaped guide rail 7 to reduce friction with the guide rail 7 and restrict the sensor smoothing stage 6 to move only along the Y-axis direction.

[0030] like Figure 6 As shown, when a person inserts a needle along the Z-axis towards the target point, the needle tip bends, with a bend value of d. At this point, the needle insertion is stopped, and the motor 11 is started. Through the meshing transmission of the rack 8 and the gear 10, the sensor smooth moving stage 6 is driven to move along the guide rail 7 (Y-axis direction). Due to the special structure and shape of the guide hole 13 of the protruding needle guide 2, when a corrective force is applied, the guide hole 13 applies a corrective force F to the particle implantation needle 12 in the Y-axis direction in a point-force manner. After the force is applied, the needle continues to be inserted, so as to accurately puncture the target point. Figure 6 In this context, d represents the deflection value, t represents the target point, P represents the prostate tissue, and L represents the needle insertion distance.

[0031] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A corrector for improving the puncture accuracy of a prostate seed implant needle, characterized by: The base is provided with a needle body support frame, an electric drive mechanism and two guide rails, and the two guide rails are provided with a sensor stable moving table, and the electric drive mechanism is used to drive the sensor stable moving table to move on the two guide rails; The force sensor is installed on the sensor stable moving table, the convex point needle guide is fixed on the force sensor, the needle guide hole is arranged on the convex point needle guide, the needle guide hole and the needle body support frame are used to pass through the support particle implantation needle, the axis of the needle guide hole is perpendicular to the guide rail, the needle guide hole is composed of two circular table holes, the two circular table holes are symmetrically arranged, and the diameter of the connecting surface of the two circular table holes is equal to the outer diameter of the particle implantation needle; When the electric drive mechanism drives the sensor stable moving table to move along the guide rail, the needle guide hole applies a correcting force to the particle implantation needle in the moving direction in a point force mode; The sensor stable moving table comprises a mounting frame and two side plates, the two side plates are fixed on the two sides of the mounting frame, the bottom of the mounting frame is provided with four first micro bearings, and the bottom of each side plate is provided with two second micro bearings. The cross section of the guide rail is T-shaped, the guide rail is composed of a web plate and a horizontal plate, the mounting frame of the sensor stable moving table is located between the two guide rails, and the four first micro bearings at the bottom of the mounting frame are supported on the base in a rolling manner; the two guide rails are located between the two side plates of the sensor stable moving table, and the two second micro bearings at the bottom of one side plate are supported on the web plate of one guide rail in a rolling manner, and the two second micro bearings at the bottom of the other side plate are supported on the web plate of the other guide rail in a rolling manner.

2. The accuracy corrector for improving the puncture accuracy of the prostate particle implant needle according to claim 1, characterized in that: The electric drive mechanism comprises a motor and a rack, the motor seat is fixed on the needle body support frame, the motor is installed on the motor seat, the main shaft of the motor is provided with a gear, the rack is installed on the sensor stable moving table, the rack is parallel to the guide rail, and the gear is engaged with the rack.

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