An execution device for an interventional instrument

Abstract

The application discloses an execution device of an interventional instrument, which comprises a base, an upper end surface of the base being parallel to a first axis and a second axis; a first rotating mechanism installed on the base and used for driving a first needle body to rotate with the first axis as a rotating axis; a first linear motion mechanism installed on the base and used for driving the first needle body to move on the first axis; a second linear motion mechanism used for driving a part of a second needle body located in the first needle body to move along the first axis; and a limiting component installed on the second linear motion mechanism, the limiting component enabling the second needle body to rotate with the first rotating mechanism and move with the second linear motion mechanism. The execution device solves the problem that the second needle body cannot be controlled to rotate in the prior art, and the structural complication caused by separately setting a rotating driving part for the rotation of the second needle body is avoided, and the function that the multiple particle arrangements of the second needle body are completed by single insertion of the first needle body is realized.

Description

Technical Field

[0001] This invention belongs to the field of medical devices, and specifically relates to an actuating device for interventional devices. Background Technology

[0002] Radioactive particle implantation is an effective treatment for cancer. It involves implanting radioactive particles into the tumor site, where the continuous radiation from these particles kills cancerous cells. This technology is characterized by strong targeting, no side effects, and small incisions, and is currently widely used. Currently, particle implantation surgery is performed either manually by a doctor or with robot assistance, both requiring multiple needle insertions. This increases the surgical difficulty, makes it difficult to guarantee precision, results in low particle implantation efficiency, and causes large wounds for patients. Furthermore, medical staff are exposed to radiation for extended periods. Therefore, there is a need for a particle implantation mechanism that can achieve a three-dimensional distribution of multiple particles with a single needle insertion, improving the accuracy of particle implantation layout, reducing surgical wounds for patients, decreasing surgical difficulty and time, and avoiding prolonged radiation exposure for medical staff. To this end, an implantation device with a flexible needle that is naturally bent has been designed. However, how to control the rotation and linear movement of this naturally bent flexible needle while minimizing operational difficulty and structural complexity is a pressing issue that needs to be addressed. Summary of the Invention

[0003] The purpose of this invention is to provide an interventional device that has a simplified structure and is easier to control and operate.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: an actuating device for an interventional instrument, the interventional instrument comprising a second needle body and a first needle body sleeved on the body of the second needle body, the axis of the first needle body being a first axis, and the first axis, the second axis, and the third axis being perpendicular to each other; the actuating device comprising: The base has its upper surface parallel to the first and second axes. A first rotating mechanism is mounted on the base and is used to drive the first needle body to rotate about the first axis as the rotation axis; A first linear motion mechanism is mounted on the base and is used to drive the first needle body to move along the first axis. The second linear motion mechanism is used to drive the portion of the second needle body located inside the first needle body to move along the first axis. The actuator further includes a limiting component mounted on the second linear motion mechanism, the limiting component causing the second needle body to rotate with the first rotating mechanism and move with the second linear motion mechanism.

[0005] In another embodiment, the limiting component includes a limiting hole fixed at a position relative to the first linear motion mechanism on a first axis, a limiting rod slidably inserted through the limiting hole and unable to rotate relative to the limiting hole, the limiting rod being sleeved on the rear end of the second needle body, the front end of the second needle body being inserted into the first needle body, and the first rotating mechanism including a first six-dimensional sensor fixing sleeve rotatably mounted on the first linear motion mechanism, the limiting hole being formed on the first six-dimensional sensor fixing sleeve.

[0006] In another embodiment, an annular limiting groove is formed on the circumferential surface of the rear end portion of the limiting rod, and the limiting component includes a limiting pin mounted on the second linear motion mechanism to prevent the limiting rod from moving relative to the second linear motion mechanism along the first axis direction. The limiting pin has at least a portion located within the limiting groove and does not obstruct the limiting rod from rotating around the first axis; the limiting pin is arranged perpendicular to the first axis.

[0007] In another embodiment, the first linear motion mechanism includes a first lead screw assembly, a first support plate mounted on the first lead screw assembly, and the first six-dimensional sensor fixing sleeve is rotatably connected to the first support plate.

[0008] In another embodiment, the first lead screw assembly includes a guide rail disposed on the base and parallel to the first axis, a first sliding seat slidably connected to the guide rail, a first lead screw rotatably connected to the base, a first nut threadedly connected to the first lead screw and fixedly connected to the first sliding seat, a first ball screw motor mounted on the base and drivenly connected to the first lead screw, and the first support plate fixed to the first sliding seat.

[0009] In another embodiment, the first rotating mechanism includes a second support plate fixed to the first sliding seat, a first driven gear fixedly sleeved on the first six-dimensional sensor fixing sleeve, a second six-dimensional sensor fixing sleeve partially passing through the first six-dimensional sensor fixing sleeve and sleeved on the limiting rod, a six-dimensional sensor disposed between the first six-dimensional sensor fixing sleeve and the second six-dimensional sensor fixing sleeve, a first rotary motor mounted on the first support plate, and a first drive gear mounted on the first rotary motor, wherein the first drive gear meshes with the first driven gear, and the second six-dimensional sensor fixing sleeve is rotatably connected to the second support plate.

[0010] In another embodiment, the second linear motion mechanism includes a second sliding seat slidably mounted on the guide rail, a second lead screw rotatably connected to the base, a second nut threadedly connected to the second lead screw and fixedly connected to the second sliding seat, and a second ball screw motor mounted on the base and drivenly connected to the second lead screw, wherein the second lead screw is located on one side of the base.

[0011] In another embodiment, the interventional device includes a third needle body inserted into the second needle body, and the actuating device further includes a third linear motion mechanism for driving the third needle body to move in a straight line.

[0012] In another embodiment, the third linear motion mechanism includes a mounting box, a second rotary motor mounted on the mounting box with its axis parallel to the first axis, a first helical gear coaxial with and driven by the second rotary motor, a second helical gear rotatably mounted in the mounting box with its axis parallel to the second axis, a first spur gear coaxial with and driven by the second helical gear, a first friction wheel coaxial with and driven by the first spur gear, a second spur gear with its axis parallel to the second axis and meshing with the first spur gear, and a second friction wheel coaxial with and driven by the second spur gear. The first helical gear and the second helical gear mesh, and the first spur gear, the second spur gear, the first friction wheel, and the second friction wheel are all rotatably connected in the mounting box with their own axes as the rotation axis. The third needle passes between the first friction wheel and the second friction wheel and moves forward or backward with the rotation of the first friction wheel and the second friction wheel.

[0013] In another embodiment, the actuator includes a limiting mounting base fixed to the mounting box, a limiting rod rotatably passing through the limiting mounting base, a limiting pin fixed to the limiting mounting base, and a cavity in the limiting mounting base through which the third needle body passes coaxially and communicates with the cavity of the second needle body.

[0014] In another embodiment, the limiting mounting base is provided with a particle supply chamber, and the particle supply chamber is in communication with the interior of the limiting mounting base.

[0015] In another embodiment, the limiting component includes a first limiting sleeve, a second limiting sleeve, and a limiting rod slidably inserted within the first and second limiting sleeves. The first and second limiting sleeves can fix the limiting rod by negative pressure adsorption or magnetic adsorption, respectively, and only one limiting sleeve can fix the limiting rod by adsorption at any given time. If the limiting rod is made of magnetic material, the first and second limiting sleeves can be made magnetically controllable, or a ventilated pipe can be provided on the inner wall of the first and second limiting sleeves. By extracting gas from the pipe, a negative pressure can be formed inside the pipe, thereby enabling the first or second limiting sleeve to adsorb and fix the limiting rod.

[0016] The beneficial effects of this invention are as follows: This invention utilizes a first rotating mechanism to achieve rotational control of the first and second needle bodies, solving the problems of existing technologies that cannot achieve rotational control of the second needle body and eliminating the structural complexity caused by setting up a separate rotational drive for the rotation of the second needle body. It realizes the function of completing multiple particle arrangements of the second needle body with a single insertion of the first needle body; moreover, the first, second, and third needle bodies can move coaxially, further simplifying the structure of the device; at the same time, this device can achieve automatic fan-shaped implantation of particle sources with a single insertion, reducing the radiation impact on doctors, and the fan-shaped particle layout is also more conducive to the treatment effect. Attached Figure Description

[0017] Figure 1 This is a perspective view of the present invention in Embodiment 1; Figure 2 This is a cross-sectional view of the present invention in Embodiment 1; Figure 3 This is a perspective view of the first rotating mechanism of the present invention in Embodiment 1; Figure 4 This is an exploded view of the third linear motion mechanism of the present invention in Embodiment 1; Figure 5 This is a cross-sectional view of the present invention in Embodiment 2. Detailed Implementation

[0018] The present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings: Example

[0019] like Figure 1-5 As shown, the interventional device includes a third needle body Z3, a second needle body Z2 sleeved outside the third needle body Z3, and a first needle body Z1 sleeved outside the second needle body Z2. The axis of the first needle body Z1 is the first axis, and the first axis, the second axis, and the third axis are perpendicular to each other. The actuating device of the interventional device includes: a base 9, a first rotating mechanism 1, a first linear motion mechanism 2, a second linear motion mechanism 3, a third linear motion mechanism 4, and a limiting component 5.

[0020] The upper surface of the base 9 is parallel to the first axis and the second axis; the first rotating mechanism 1 is mounted on the base 9 and is used to drive the first needle body Z1 to rotate about the first axis; the first linear motion mechanism 2 is mounted on the base 9 and is used to drive the first needle body Z1 to move along the first axis; the second linear motion mechanism 3 is used to drive the portion of the second needle body Z2 located inside the first needle body Z1 to move along the first axis; the limiting component 5 causes the second needle body Z2 to rotate with the first rotating mechanism 1 and move with the second linear motion mechanism 3. The third linear motion mechanism 4 is used to drive the third needle body Z3 to move in a straight line.

[0021] Specifically: like Figure 1-5 As shown, the limiting component 5 includes a limiting hole 51 fixed in position relative to the first linear motion mechanism 2 on the first axis, and a limiting rod 52 slidably inserted into the limiting hole 51 and unable to rotate relative to the limiting hole 51. The limiting rod 52 is sleeved on the rear end of the second needle body Z2, and the front end of the second needle body Z2 is inserted into the first needle body Z1. The first rotating mechanism 1 includes a first six-dimensional sensor fixing sleeve 11 rotatably mounted on the first linear motion mechanism 2, and the limiting hole 51 is formed on the first six-dimensional sensor fixing sleeve 11. An annular limiting groove 521 is formed on the circumferential surface of the rear end of the limiting rod 52. The limiting component 5 includes a limiting pin 53 mounted on the second linear motion mechanism 3 to prevent the limiting rod 52 from moving relative to the second linear motion mechanism 3 along the first axis. The limiting pin 53 has at least a portion located within the limiting groove 521 and does not obstruct the rotation of the limiting rod 52 around the first axis; the limiting pin 53 is arranged perpendicular to the first axis.

[0022] The first linear motion mechanism 2 includes a first lead screw assembly 21, a first support plate 22 mounted on the first lead screw assembly 21, and a first six-dimensional sensor fixing sleeve 11 rotatably connected to the first support plate 22. The first lead screw assembly 21 includes a guide rail 23 mounted on the base 9 and parallel to the first axis, a first sliding seat 24 slidably connected to the guide rail 23, a first lead screw 25 rotatably connected to the base 9, a first nut 26 threadedly connected to the first lead screw 25 and fixedly connected to the first sliding seat 24, a first ball screw motor 27 mounted on the base 9 and drivenly connected to the first lead screw 25, and the first support plate 22 fixed to the first sliding seat 24.

[0023] like Figure 1-5As shown, the first rotating mechanism 1 includes a second support plate 14 fixed on the first sliding seat 24, a first driven gear 15 fixedly sleeved on the first six-dimensional sensor fixing sleeve 11, a second six-dimensional sensor fixing sleeve 12 partially passing through the first six-dimensional sensor fixing sleeve 11 and sleeved on the limiting rod 52, a six-dimensional sensor 13 disposed between the first six-dimensional sensor fixing sleeve 11 and the second six-dimensional sensor fixing sleeve 12, a first rotary motor 17 mounted on the first support plate 22, a first drive gear 16 mounted on the first rotary motor 17, the first drive gear 16 meshing with the first driven gear 15, and the second six-dimensional sensor fixing sleeve 12 rotatably connected to the second support plate 14.

[0024] The second linear motion mechanism 3 includes a second sliding seat 31 slidably mounted on the guide rail 23, a second lead screw 32 rotatably connected to the base 9, a second nut 33 threadedly connected to the second lead screw 32 and fixedly connected to the second sliding seat 31, and a second ball screw motor 34 mounted on the base 9 and drivenly connected to the second lead screw 32. The second lead screw 32 is located on one side of the base 9.

[0025] like Figure 1-5 As shown, the third linear motion mechanism 4 includes a mounting box 41, a second rotary motor 42 mounted on the mounting box 41 with its axis parallel to the first axis, a first helical gear 43 coaxial with and driven by the second rotary motor 42, a second helical gear 44 rotatably mounted in the mounting box 41 with its axis parallel to the second axis, a first spur gear 45 coaxial with and driven by the second helical gear 44, a first friction wheel 46 coaxial with and driven by the first spur gear 45, a second spur gear 47 with its axis parallel to the second axis and meshing with the first spur gear 45, and a second friction wheel 48 coaxial with and driven by the second spur gear 47. The first helical gear 43 and the second helical gear 44 mesh, and the first spur gear 45, the second spur gear 47, the first friction wheel 46 and the second friction wheel 48 are all rotatably connected in the mounting box 41 with their own axes as the axis of rotation. The third needle body Z3 passes between the first friction wheel 46 and the second friction wheel 48 and moves forward or backward with the rotation of the first friction wheel 46 and the second friction wheel 48.

[0026] The actuator includes a limiting mounting base 54 fixed to the mounting box 41. A limiting rod 52 is rotatably inserted through the limiting mounting base 54. A limiting pin 53 is fixed to the limiting mounting base 54. The cavity inside the limiting mounting base 54 through which the third needle body Z3 passes is coaxial and communicates with the cavity of the second needle body Z2. A particle supply chamber 6 is provided on the limiting mounting base 54, and the particle supply chamber 6 communicates with the interior of the limiting mounting base 54.

[0027] The first ball screw motor 27 drives the first sliding seat 24 and the first rotating mechanism 1 to move forward and backward. The second ball screw motor drives the second sliding seat 31 and the third linear motion mechanism 4 to move forward and backward. The first rotary motor 17 drives the first drive gear 16 to rotate. The first drive gear 16 meshes with the first driven gear 15 on the first six-dimensional sensor fixing sleeve 11. The first drive gear 16 drives the first six-dimensional sensor fixing sleeve 11 to rotate. The first six-dimensional sensor fixing sleeve 11 drives the six-dimensional sensor and the second six-dimensional sensor fixing sleeve 12 to rotate. The first needle body Z1 is installed at the front end of the second six-dimensional sensor fixing sleeve 12 and rotates with it. The second needle body Z2 is fixed on the limiting rod 52. The limiting rod 52 passes through the second six-dimensional sensor fixing sleeve 12, and its axial rotation relative to the second six-dimensional sensor fixing sleeve 12 is restricted. Therefore, when the six-dimensional sensor and the fixed base rotate, the second needle body Z2 rotates accordingly, while the first needle body Z1 and the second needle body Z2 do not rotate relative to each other. The rear end of the second needle body Z2 is mounted on the mounting base of the limiting rod 52, and its radial movement relative to the third needle body Z3 conveying module is restricted by the limiting pin. In this embodiment, the limiting pin is a ball head blocking limit. The second linear motion mechanism 3 pushes the limiting rod 52 and the second needle body Z2 forward and backward. The second rotary motor 42 drives the first helical gear 43 to drive the second helical gear 44, the first spur gear 45, and the second spur gear 47 to rotate in sequence. The first friction wheel 46 and the second friction wheel 48 rotate accordingly. The third needle body Z3 passes through the channel formed between the first friction wheel 46 and the second friction wheel 48. When the first friction wheel 46 and the second friction wheel 48 rotate, the third needle body Z3 moves radially.

[0028] Initially, the first and second ball screw motors simultaneously move the first needle body Z1 and the second needle body Z2 forward, while the second rotary motor 42 drives the third needle body Z3 forward. The relative positions of the first needle body Z1, the second needle body Z2, and the third needle body Z3 remain unchanged during the movement. After the three needle bodies reach the initial position, the second ball screw motor drives the second needle body Z2 forward, and the second rotary motor 42 drives the third needle body Z3 to continue moving forward. The relative positions of the second needle body Z2 and the third needle body Z3 remain unchanged during the movement. The front end of the second needle body Z2 extends beyond the front end of the first needle body Z1 and returns to its bent state, while the third needle body Z3 is constrained by the second needle body Z2 and bends together. After the tips of the second needle Z2 and the third needle Z3 reach the source position, the second rotary motor 42 drives the third needle Z3 to retreat. After the tip of the third needle Z3 retreats to the rear end of the particle supply chamber, the particles in the particle chamber enter the mounting base of the limiting rod 52. Then, the second rotary motor 42 drives the third needle Z3 to push the particles forward. The particles enter the second needle Z2 and are eventually pushed to the source position. Subsequently, the second ball screw motor drives the second needle Z2 to retreat, while the second rotary motor 42 maintains the position of the third needle Z3 unchanged. When the tip of the second needle Z2 moves to the rear end of the particle, the particle is completely contained within the tumor. At this time, the second needle Z2 continues to retreat, and the second rotary motor 42 drives the third needle Z3 to retreat. After the second needle Z2 and the third needle Z3 retreat to the initial insertion position, the first rotary motor 17 drives the first needle Z1 and the second needle Z2 to rotate simultaneously by a specified angle, repeating the insertion of the second needle Z2 and the particle implantation action, thus achieving a three-dimensional circular distribution of particles. Example

[0029] like Figure 1-5 As shown, the difference between this example and Embodiment 1 is that the limiting component 5 includes a first limiting sleeve 54, a second limiting sleeve 56, and a limiting rod 52 slidably inserted into the first limiting sleeve 55 and the second limiting sleeve 56. The first limiting sleeve 55 and the second limiting sleeve 56 can fix the limiting rod 52 by negative pressure adsorption or magnetic adsorption, and only one limiting sleeve can fix the limiting rod by adsorption at any given time. The second limiting sleeve 56 is embedded in the first driven gear 15 and is aligned with the first driven gear 15. Shaft setting; if the limiting rod is made of magnetic material, the first limiting sleeve and the second limiting sleeve can be set to be magnetically controllable, such as a coil energized by a brush. When the coil is energized, it gains magnetism and thus attracts the second limiting sleeve and keeps it relatively fixed. When the coil rotates with the first driven gear 15, it can drive the second limiting sleeve to rotate. Alternatively, a ventilation pipe can be set on the inner side wall of the first limiting sleeve and the second limiting sleeve. By extracting the gas in the pipe, a negative pressure is formed in the pipe, so that the first limiting sleeve or the second limiting sleeve can attract and fix the limiting rod.

[0030] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be covered within the scope of protection of the present invention.

Claims

1. An actuating device for an interventional instrument, the interventional instrument comprising a second needle body and a first needle body sleeved on the body of the second needle body, wherein the axis of the first needle body is a first axis, and the first axis, the second axis, and the third axis are perpendicular to each other, the actuating device comprising: The base has its upper surface parallel to the first and second axes. A first rotating mechanism is mounted on the base and is used to drive the first needle body to rotate about the first axis as the rotation axis; A first linear motion mechanism is mounted on the base and is used to drive the first needle body to move along the first axis. The second linear motion mechanism is used to drive the portion of the second needle body located inside the first needle body to move along the first axis. The feature is that the actuator further includes a limiting component mounted on the second linear motion mechanism, the limiting component causing the second needle body to rotate with the first rotating mechanism and move with the second linear motion mechanism; The limiting component includes a limiting hole fixed at a position relative to the first linear motion mechanism on a first axis, and a limiting rod slidably inserted through the limiting hole and unable to rotate relative to the limiting hole. The limiting rod is sleeved on the rear end of the second needle body, and the front end of the second needle body is inserted into the first needle body. The first rotating mechanism includes a first six-dimensional sensor fixing sleeve rotatably mounted on the first linear motion mechanism, and the limiting hole is formed on the first six-dimensional sensor fixing sleeve. An annular limiting groove is formed on the circumferential surface of the rear end portion of the limiting rod. The limiting component includes a limiting pin mounted on the second linear motion mechanism to prevent the limiting rod from moving relative to the second linear motion mechanism along the first axis. The limiting pin has at least a portion located within the limiting groove and does not obstruct the limiting rod from rotating around the first axis.

2. The actuating device of the interventional instrument according to claim 1, characterized in that: The first linear motion mechanism includes a first lead screw assembly, a first support plate mounted on the first lead screw assembly, and the first six-dimensional sensor fixing sleeve is rotatably connected to the first support plate.

3. The actuating device of the interventional instrument according to claim 2, characterized in that: The first lead screw assembly includes a guide rail disposed on the base and parallel to the first axis, a first sliding seat slidably connected to the guide rail, a first lead screw rotatably connected to the base, a first nut threadedly connected to the first lead screw and fixedly connected to the first sliding seat, a first ball screw motor mounted on the base and drivenly connected to the first lead screw, and a first support plate fixed to the first sliding seat.

4. The actuating device of the interventional instrument according to claim 3, characterized in that: The first rotating mechanism includes a second support plate fixed to the first sliding seat, a first driven gear fixedly sleeved on the first six-dimensional sensor fixing sleeve, a second six-dimensional sensor fixing sleeve partially passing through the first six-dimensional sensor fixing sleeve and sleeved on the limiting rod, a six-dimensional sensor disposed between the first six-dimensional sensor fixing sleeve and the second six-dimensional sensor fixing sleeve, a first rotary motor mounted on the first support plate, and a first drive gear mounted on the first rotary motor. The first drive gear meshes with the first driven gear, and the second six-dimensional sensor fixing sleeve is rotatably connected to the second support plate.

5. The actuating device of the interventional instrument according to claim 3, characterized in that: The second linear motion mechanism includes a second sliding seat slidably mounted on the guide rail, a second lead screw rotatably connected to the base, a second nut threadedly connected to the second lead screw and fixedly connected to the second sliding seat, and a second ball screw motor mounted on the base and drivenly connected to the second lead screw. The second lead screw is located on one side of the base.

6. The actuating device of the interventional instrument according to claim 3, characterized in that: The interventional device includes a third needle body inserted into the second needle body, and the actuating device further includes a third linear motion mechanism for driving the third needle body to move in a straight line.

7. The actuating device of the interventional instrument according to claim 6, characterized in that: The third linear motion mechanism includes a mounting box, a second rotary motor mounted on the mounting box with its axis parallel to the first axis, a first helical gear coaxial with and driven by the second rotary motor, a second helical gear rotatably mounted in the mounting box with its axis parallel to the second axis, a first spur gear coaxial with and driven by the second helical gear, a first friction wheel coaxial with and driven by the first spur gear, a second spur gear with its axis parallel to the second axis and meshing with the first spur gear, and a second friction wheel coaxial with and driven by the second spur gear. The first helical gear and the second helical gear mesh, and the first spur gear, the second spur gear, the first friction wheel, and the second friction wheel are all rotatably connected in the mounting box with their own axes as the rotation axis. The third needle passes between the first friction wheel and the second friction wheel and moves forward or backward with the rotation of the first friction wheel and the second friction wheel.

8. The actuating device of the interventional instrument according to claim 7, characterized in that: The actuator includes a limiting mounting base fixed to the mounting box, a limiting rod rotatably passing through the limiting mounting base, a limiting pin fixed to the limiting mounting base, and a cavity in the limiting mounting base through which the third needle body passes coaxially and communicates with the cavity of the second needle body.

9. The actuating device of the interventional instrument according to claim 8, characterized in that: The limiting mounting base is equipped with a particle supply chamber, which is connected to the interior of the limiting mounting base.

10. The actuating device of the interventional instrument according to claim 1, characterized in that: The limiting component includes a first limiting sleeve, a second limiting sleeve, and a limiting rod that is slidably inserted inside the first and second limiting sleeves. The first and second limiting sleeves can fix the limiting rod by negative pressure adsorption or magnetic adsorption, and only one limiting sleeve can fix the limiting rod by adsorption at any given time.

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