Particle-guided puncture surgical device, robot and its usage

Abstract

This application provides a particle interventional puncture surgical device, robot, and method of use. The device includes a support, an external needle clamping unit, an internal needle clamping unit, a particle releaser, a screwing unit, a force measurement unit, and a positioning unit. The positioning unit obtains the position of the external needle, and the force measurement unit obtains the force of the external needle. Based on the position and force of the external needle, the posture of the robotic arm is controlled to control the insertion speed of the external needle. The operation of the screwing unit is controlled to control the rotation angle and angular velocity of the external needle. The robotic arm is controlled to make the external needle puncture according to the planned path. Through real-time feedback of six-dimensional force information, external needle posture, and position during the puncture process, the adjustment of the particle interventional puncture surgical device is faster and more accurate, shortening the operation time and improving the safety of the operation.

Description

Technical Field

[0001] The embodiments of this application relate to, but are not limited to, the medical field, and particularly to particle interventional puncture surgical devices, robots, and methods of use. Background Technology

[0002] With the development of modern medical technology and social progress, there are various methods for diagnosing and treating cancer tumors, mainly including surgical resection, radiofrequency ablation, cryotherapy, and radioactive particle therapy. Among them, particle interventional therapy has the advantage of being minimally invasive, and interventional puncture robots have been developed and applied to particle interventional therapy. However, interventional puncture robots have the disadvantage of lacking information feedback, leading to a lack of localization of tissue structures or assessment of tissue properties, and are also prone to causing trauma or damage to tissues during the process of twisting the needle. Summary of the Invention

[0003] The following is an overview of the subject matter described in detail herein. This overview is not intended to limit the scope of the claims.

[0004] The purpose of this application is to at least partially solve one of the technical problems existing in the related art. The embodiments of this application provide a particle intervention puncture surgical device that can control the insertion speed, rotation angle and rotation angular velocity of the external needle according to the position and the force, and make the external needle perform puncture according to the planned path.

[0005] An embodiment of the first aspect of this application provides a particle interventional puncture surgical device, comprising:

[0006] support;

[0007] An outer needle clamping unit is provided, which clamps an outer needle. The outer needle clamping unit is provided with a connecting component, and the outer needle clamping unit is slidably connected to the self-aligning bearing through the connecting component to connect with the bracket.

[0008] An inner needle clamping unit is provided, wherein the outer needle clamping unit is connected to the inner needle clamping unit via the connecting assembly, and the inner needle clamping unit clamps and fixes the inner needle to the outer needle clamping unit.

[0009] A particle release device, wherein the outer needle clamping unit is connected to the particle release device via the connecting assembly, and the particle release device is used to assist in releasing radioactive particles through the outer needle;

[0010] A screwing unit is connected to the outer needle clamping unit in a transmission manner, and the screwing unit is used to drive the outer needle clamping unit to rotate;

[0011] A force measuring unit, wherein the outer needle clamping unit is mounted on the force measuring unit via the connecting assembly, and the force measuring unit is used to measure the force exerted by the outer needle;

[0012] A positioning unit is disposed on the bracket and is used to detect the position of the outer needle.

[0013] In some embodiments of the first aspect of this application, the connecting assembly includes a flange clamping sleeve, one end of which is slidably connected to a sleeve, the sleeve being fitted onto the self-aligning bearing.

[0014] In some embodiments of the first aspect of this application, the outer needle clamping unit is provided with a first outer needle adapter clip and a second outer needle adapter clip, and the inner needle clamping unit includes a first buckle and a second buckle. The first buckle and the second buckle together lock the inner needle. The first buckle and the second buckle are fastened to the protrusions of the first outer needle adapter clip and the second outer needle adapter clip, and the second buckle is locked with the connecting component.

[0015] In some embodiments of the first aspect of this application, the positioning unit includes a target ball support and a plurality of target balls that are sensitive to reflected near-infrared light, the plurality of target balls being mounted on the target ball support and the target ball support being connected to the support.

[0016] In some embodiments of the first aspect of this application, the front end of the external needle clamping unit is provided with a spring collet and a collet nut, the collet nut being sleeved on the spring collet.

[0017] In some embodiments of the first aspect of this application, the bracket is provided with a mounting cavity, and the inner needle clamping unit and the particle releaser are both disposed in the mounting cavity.

[0018] In certain embodiments of the first aspect of this application, the screwing unit includes a driver and a first gear, the output end of the driver being connected to the first gear; the external pin clamping unit is connected to a flange bushing, the flange bushing being provided with a second gear; the first gear and the second gear are meshed together.

[0019] In some embodiments of the first aspect of this application, the force measuring unit is mounted on the bracket by means of the flange sleeve fitted onto the bearing.

[0020] An embodiment of the second aspect of this application provides a particle intervention puncture robot, comprising a controller, a robotic arm, and a particle intervention puncture surgical device as described above, wherein the particle intervention puncture surgical device is mounted on the robotic arm, and the controller is used to control the operation of the robotic arm and the particle intervention puncture surgical device.

[0021] A third aspect of this application provides a method for using a particle intervention puncture robot, applied to the particle intervention puncture robot described above, the method comprising:

[0022] The outer needle is held by the outer needle clamping unit, and the inner needle is held by the inner needle clamping unit. The inner needle clamping unit is installed on the bracket and the inner needle is fixed on the outer needle clamping unit.

[0023] The robotic arm is controlled to insert an external needle. The position of the external needle is obtained through the positioning unit, and the force of the external needle is obtained through the force measurement unit. Based on the position and the force, the insertion speed, rotation angle and rotation angular velocity of the external needle are controlled, and the external needle is made to puncture along the planned path until the external needle reaches the target position.

[0024] Remove the inner needle clamping unit and the inner needle, install the particle releaser onto the bracket and connect the particle releaser to the outer needle clamping unit, and use the particle releaser to assist in releasing radioactive particles through the outer needle.

[0025] Control the robotic arm to pull out the external needle.

[0026] The above-mentioned solution has at least the following beneficial effects: the position of the external needle is obtained through the positioning unit, the force of the external needle is obtained through the force measurement unit, and the posture of the robotic arm is controlled according to the position and force of the external needle to control the insertion speed of the external needle. The operation of the rotating unit is controlled to control the rotation angle and rotational angular velocity of the external needle. The robotic arm is controlled to make the external needle puncture according to the planned path. The real-time feedback of the six-dimensional force information, external needle posture and position during the puncture process makes the adjustment of the particle intervention puncture surgical device faster and more accurate, shortens the operation time and improves the safety of the operation. Attached Figure Description

[0027] The accompanying drawings are used to provide a further understanding of the technical solutions of this application and constitute a part of the specification. They are used together with the embodiments of this application to explain the technical solutions of this application and do not constitute a limitation on the technical solutions of this application.

[0028] Figure 1 This is a structural diagram of the particle intervention puncture robot provided in the embodiments of this application;

[0029] Figure 2 This is a structural diagram of the external needle clamping unit;

[0030] Figure 3 This is a diagram of the internal structure of the external needle clamping unit;

[0031] Figure 4 yes Figure 3 Enlarged view of point B in the middle;

[0032] Figure 5 This is a structural diagram of a spring collet;

[0033] Figure 6 This is a structural diagram of the outer needle;

[0034] Figure 7 This is a structural diagram of the inner needle clamping unit;

[0035] Figure 8 yes Figure 7 Enlarged view of point C in the middle;

[0036] Figure 9 This is a structural diagram of a particle release device;

[0037] Figure 10 This is a structural diagram of the positioning unit;

[0038] Figure 11 This is a structural diagram of the force measurement unit and the screwing unit. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0040] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, or the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0041] The embodiments of this application will be further described below with reference to the accompanying drawings.

[0042] An embodiment of this application provides a particle intervention puncture surgical device.

[0043] Reference Figure 1 The particle intervention puncture surgical device includes: a stent 1, an external needle clamping unit 2, an internal needle clamping unit 3, a particle releaser 4, a screwing unit 7, a force measuring unit 5, and a positioning unit 6.

[0044] The system includes an outer needle clamping unit 2 that holds an outer needle 8 and has a connecting assembly. The outer needle clamping unit 2 is slidably connected to the self-aligning bearing 25 via the connecting assembly to connect with the bracket 1. The outer needle clamping unit 2 is connected to the inner needle clamping unit 3 via the connecting assembly. The inner needle clamping unit 3 holds an inner needle 9 and fixes the inner needle 9 to the outer needle clamping unit 2. The outer needle clamping unit 2 is connected to the particle releaser 4 via the connecting assembly. The particle releaser 4 is used to assist in releasing radioactive particles through the outer needle 8. The screwing unit 7 is connected to the outer needle clamping unit 2 via a transmission connection and is used to drive the outer needle clamping unit 2 to rotate. The outer needle clamping unit 2 is mounted on the force measuring unit 5 via the connecting assembly. The force measuring unit 5 is used to measure the force exerted by the outer needle 8. The positioning unit 6 is mounted on the bracket 1 and is used to detect the position of the outer needle 8.

[0045] By installing a particle interventional puncture surgical device onto a robotic arm and configuring a controller to control the operation of the particle interventional puncture surgical device and the robotic arm, a particle interventional puncture surgical robot with intelligent and automated features is formed.

[0046] Specifically, the robotic arm can be a six-degree-of-freedom robotic arm; however, other types of robotic arms can also be used in other embodiments.

[0047] The method of using this particle-guided puncture robot includes, but is not limited to, the following steps:

[0048] Step S100: The outer needle 8 is clamped by the outer needle clamping unit 2, and the inner needle 9 is clamped by the inner needle clamping unit 3. The inner needle clamping unit 3 is installed on the bracket 1 and the inner needle 9 is fixed on the outer needle clamping unit 2.

[0049] Step S200: Control the robotic arm to insert the outer needle 8, obtain the position of the outer needle 8 through the positioning unit 6, obtain the force of the outer needle 8 through the force measurement unit 5, control the insertion speed, rotation angle and rotation angular velocity of the outer needle 8 according to the position and force, and make the outer needle 8 puncture according to the planned path until the outer needle 8 reaches the target position.

[0050] Step S300: Take out the inner needle clamping unit 3 and the inner needle 9, install the particle releaser 4 on the bracket 1 and connect the particle releaser 4 to the outer needle clamping unit 2, and release the radioactive particles through the outer needle 8 with the help of the particle releaser 4.

[0051] Step S400: Control the robotic arm to pull out the outer needle 8.

[0052] It is understood that the inner needle clamping unit 3 and the particle releaser 4 are both installed in the mounting cavity of the bracket 1; in step S100, the inner needle clamping unit 3 is installed in the mounting cavity of the bracket 1; in step S300, after the inner needle clamping unit 3 and the inner needle 9 are removed from the mounting cavity of the bracket 1, the particle releaser 4 is installed in the mounting cavity of the bracket 1.

[0053] In step S200, the controller controls the posture of the robotic arm to control the insertion speed of the outer needle 8 based on the position and force of the outer needle 8, controls the operation of the twisting unit 7 to control the rotation angle and rotational angular velocity of the outer needle 8, and controls the robotic arm to make the outer needle 8 puncture according to the planned path.

[0054] In this embodiment, the position of the external needle 8 is obtained through the positioning unit 6, and the force of the external needle 8 is obtained through the force measurement unit 5. Based on the position and force of the external needle 8, the posture of the robotic arm is controlled to control the insertion speed of the external needle 8. The operation of the twisting unit 7 is controlled to control the rotation angle and angular velocity of the external needle 8. The robotic arm is controlled to make the external needle 8 puncture according to the planned path. The real-time feedback of the six-dimensional force information, the posture and position of the external needle 8 during the puncture process makes the adjustment of the particle intervention puncture surgical device faster and more accurate, shortens the operation time, and improves the safety of the operation.

[0055] Reference Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 In some embodiments of this application, the front end of the outer needle clamping unit 2 is provided with a spring collet 26 and a collet nut 27, with the collet nut 27 sleeved on the spring collet 26. The outer needle clamping unit 2 clamps the outer needle 8 through the spring collet 26. When it is necessary to install the outer needle 8, the spring collet 26 is in a relaxed state, the outer needle 8 is placed on the spring collet 26, and the collet nut 27 is tightened, so that the spring collet 26 changes from a relaxed state to a clamped state, thereby clamping the outer needle 8. When it is necessary to remove the outer needle 8, the collet nut 27 is loosened, so that the spring collet 26 changes from a clamped state to a relaxed state, and the outer needle 8 is pulled out from the spring collet 26. This quick-release structure can improve the efficiency of installing and removing the outer needle 8.

[0056] In some embodiments of this application, the connecting assembly of the outer needle clamping unit 2 includes a flange clamping cylinder 21, the top of which has a spline structure, and a sleeve 24 that mates with the spline structure. One end of the flange clamping cylinder 21 is slidably connected to the sleeve 24, which is fitted onto the self-aligning bearing 25, thereby connecting the outer needle clamping unit 2 to the bracket 1. This prevents the axial force of the outer needle 8 from acting directly on the bracket 1.

[0057] Reference Figure 7 and Figure 8In some embodiments of this application, the outer needle clamping unit 2 is provided with a first outer needle adapter clip 22 and a second outer needle adapter clip 23, and the inner needle clamping unit 3 includes a first buckle 31 and a second buckle 32. The first buckle 31 and the second buckle 32 together lock the inner needle 9. The first buckle 31 and the second buckle 32 are fastened to the protrusions of the first outer needle adapter clip 22 and the second outer needle adapter clip 23, and are locked by rotating the second buckle 32 to the flange clamping cylinder 21 of the connecting assembly.

[0058] Specifically, the second buckle 32 is a locking buckle.

[0059] Reference Figure 10 In some embodiments of this application, the positioning unit 6 includes a target ball support 62 and a plurality of target balls 61 that are sensitive to reflected near-infrared light. The plurality of target balls 61 are mounted on the target ball support 62, and the target ball support 62 is connected to the support 1.

[0060] Specifically, the number of target balls 61 is 4; of course, in other embodiments, the number of target balls 61 can be other.

[0061] When the outer needle 8 pierces the human body, the positioning unit 6 is located on the outside of the human body. The position and orientation of the target ball array 61 are measured by a binocular infrared camera system, and the spatial position of the outer needle 8 tip can be measured in real time by the fixed relative position between the needle tip of the outer needle 8 and the positioning unit 6.

[0062] The target ball 61 can be detected and tracked in real time using a binocular infrared camera system. This system features an optical positioning and navigation system with extremely high accuracy and a 335Hz interpolation-free measurement rate. It consists of two infrared cameras that capture real-time video images and identify and track the target ball 61, reflective surfaces, and infrared lights within the images. It can simultaneously observe reflective surfaces and / or active reference points (infrared lights) and use triangulation to calculate their positions, thereby obtaining the posture of the outer needle 8 and the spatial position of the needle tip, meeting the needs of remotely controlled puncture.

[0063] Reference Figure 1 , Figure 7 and Figure 9 In some embodiments of this application, the bracket 1 is provided with an installation cavity, in which the inner needle clamping unit 3 and the particle releaser 4 are both disposed.

[0064] On the one hand, by rotating to loosen the chuck nut 27 and the locking buckle, the outer needle 8, the inner needle 9 and the inner needle clamping unit 3 can be removed simultaneously.

[0065] On the other hand, by loosening the collet nut 27 and the particle releaser 4, the outer needle 8 and the particle releaser 4 can be removed simultaneously.

[0066] On the other hand, the inner needle 9 and the inner needle clamping unit 3 can be removed separately by rotating to loosen the locking buckle.

[0067] On the other hand, particle releaser 4 can be removed separately by rotating to loosen it.

[0068] This makes the assembly and disassembly of the particle intervention puncture device more flexible and convenient.

[0069] Reference Figure 11 In some embodiments of this application, the force measuring unit 5 is mounted on the bearing 75 via a flange sleeve 74 and secured by a lock nut 76. The self-aligning bearing 25 allows for slight oscillation between the flange clamping sleeve 21 and the sleeve 24, thus enabling the transmission of axial force, radial force, radial bending moment, and axial torque experienced by the outer needle 8 to the force measuring unit 5, thereby completing the feedback of six-dimensional force information.

[0070] In some embodiments of this application, the screwing unit 7 includes a driver 71 and a first gear 72, with the output end of the driver 71 connected to the first gear 72; the outer needle clamping unit 2 is connected to a flange bushing 74, and a second gear 73 is provided on the flange bushing 74; the first gear 72 and the second gear 73 are meshed together.

[0071] The driver 71 is specifically a servo motor. The driver 71 drives the first gear 72 to rotate, and the first gear 72 meshes with the second gear 73. The first gear 72 drives the second gear 73 to rotate, thereby turning the outer needle clamping unit 2 and the outer needle 8 held by the outer needle clamping unit 2. The turning unit 7 provides the driver 71 with different speeds and different rotation angles, which are transmitted to the outer needle clamping unit 2 through the first gear 72 (a spur gear), realizing the axial rotation of the puncture outer needle 8, simulating the needle-twisting action of a doctor during puncture. At the same time, the mechanical limit of the second gear 73 (a limiting gear) can prevent the puncture outer needle 8 from excessively rotating or rotating continuously, thus avoiding damage to human tissue.

[0072] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

[0073] The above is a detailed description of the preferred embodiments of this application, but this application is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A particle-guided puncture surgical device, characterized in that, include: support; An outer needle clamping unit is provided, which clamps an outer needle. The outer needle clamping unit is provided with a connecting component, and the outer needle clamping unit is slidably connected to the self-aligning bearing through the connecting component to connect with the bracket. An inner needle clamping unit is provided, wherein the outer needle clamping unit is connected to the inner needle clamping unit via the connecting component, and the inner needle clamping unit clamps the inner needle and fixes the inner needle on the outer needle clamping unit. A particle release device, wherein the outer needle clamping unit is connected to the particle release device via the connecting assembly, and the particle release device is used to assist in releasing radioactive particles through the outer needle; A screwing unit is connected to the outer needle clamping unit in a transmission manner, and the screwing unit is used to drive the outer needle clamping unit to rotate; A force measuring unit, wherein the outer needle clamping unit is mounted on the force measuring unit via the connecting assembly, and the force measuring unit is used to measure the force exerted by the outer needle; A positioning unit is disposed on the bracket and is used to detect the position of the outer needle; The controller controls the posture of the robotic arm based on the position and force of the outer needle to control the needle insertion speed, controls the operation of the twisting unit to control the rotation angle and angular velocity of the outer needle, and controls the robotic arm to make the outer needle puncture along the planned path.

2. The particle intervention puncture surgical device according to claim 1, characterized in that, The connecting assembly includes a flange clamping sleeve, one end of which is slidably connected to a sleeve, and the sleeve is fitted onto the self-aligning bearing.

3. The particle intervention puncture surgical device according to claim 1, characterized in that, The outer needle clamping unit is provided with a first outer needle adapter clip and a second outer needle adapter clip. The inner needle clamping unit includes a first buckle and a second buckle. The first buckle and the second buckle lock the inner needle together. The first buckle and the second buckle are fastened to the protrusions of the first outer needle adapter clip and the second outer needle adapter clip. The second buckle is locked with the connecting component.

4. The particle intervention puncture surgical device according to claim 1, characterized in that, The positioning unit includes a target ball support and multiple target balls that are sensitive to reflected near-infrared light. The multiple target balls are mounted on the target ball support, and the target ball support is connected to the support.

5. The particle intervention puncture surgical device according to claim 1, characterized in that, The front end of the external needle clamping unit is provided with a spring collet and a collet nut, and the collet nut is sleeved on the spring collet.

6. The particle intervention puncture surgical device according to claim 1, characterized in that, The bracket has an installation cavity, in which the inner needle clamping unit and the particle releaser are both disposed.

7. The particle intervention puncture surgical device according to claim 1, characterized in that, The screwing unit includes a driver and a first gear, the output end of the driver is connected to the first gear; the external needle clamping unit is connected to a flange bushing, and a second gear is provided on the flange bushing; the first gear and the second gear are meshed together.

8. The particle intervention puncture surgical device according to claim 7, characterized in that, The force measuring unit is mounted on the bearing via the flange sleeve to be mounted on the bracket.

9. A particle-interventional puncture robot, characterized in that, The device includes a controller, a robotic arm, and a particle intervention puncture surgical apparatus as described in any one of claims 1 to 8, wherein the particle intervention puncture surgical apparatus is mounted on the robotic arm, and the controller is used to control the operation of the robotic arm and the particle intervention puncture surgical apparatus.

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