Multi-mode rope driving force system

Abstract

The embodiment of the invention provides a multimode rope driving force system. The multi-mode rope driving force system comprises a multi-mode power device, a cable and a motion executing mechanism. And the cable is respectively connected with the multi-mode power device and the motion execution mechanism. The multi-mode power device is configured to provide driving force for the motion execution mechanism. And the motion execution mechanism is connected with the medical probe and is configured to control the medical probe to perform multi-degree-of-freedom motion based on the driving force.

Description

Technical Field

[0001] The present specification relates to the field of medical diagnosis and treatment, and in particular to a multi-mode rope driving force system. Background Art

[0002] When using a medical probe, it is necessary to insert the medical probe into the patient's lesion (for example, a brain lesion). Therefore, there are very high requirements for the accuracy and use environment of the medical probe. The common driving system of a medical probe is usually a manual driving system, which cannot achieve precise control of the medical probe, reducing the efficacy and safety of the medical probe. The electric driving system is difficult to clean due to its complex structure. In order to ensure the sterile state, the entire electric driving system can only be a disposable consumable, which is costly.

[0003] Therefore, a new multi-mode drive system is urgently needed to solve the above problems, effectively realize the precise control of medical probes in a sterile environment, and improve the accuracy and safety of controlling the use of medical probes. Summary of the invention

[0004] In one aspect, the present specification provides a multi-mode cable driving force system. The multi-mode power device includes a multi-mode power device, a cable and a motion actuator. The cable is connected to the multi-mode power device and the motion actuator respectively; the multi-mode power device is configured to provide a driving force to the motion actuator; and the motion actuator is connected to a medical probe and is configured to control the medical probe to perform multi-degree-of-freedom motion based on the driving force.

[0005] In some embodiments, the multi-degree-of-freedom motion includes linear translation motion and rotation motion, and the motion actuator includes a translation motion module and a rotation motion module. Based on the driving force, controlling the medical probe to perform multi-degree-of-freedom motion includes: based on the driving force, controlling the translation motion module to make the medical probe perform linear translation motion; and based on the driving force, controlling the rotation motion module to make the medical probe perform rotation motion.

[0006] In some embodiments, the motion actuator further includes a sterile adapter, which is detachably connected to the rotary motion module, and the medical probe is fixedly connected to the sterile adapter.

[0007] In some embodiments, the multi-mode rope driving force system further includes a sterile device, which is fixedly connected to the sterile transfer device to form a sterile barrier, and the sterile transfer device and the sterile device are disposable consumables.

[0008] In some embodiments, the sterile device includes at least one of a sterile bag and a sterile film.

[0009] In some embodiments, the driving force includes a first driving force and a second driving force. The multi-mode power device includes: at least one manual driving unit and at least one automatic driving unit. At least one manual driving unit is configured to provide a first driving force to the motion actuator; and at least one automatic driving unit is configured to provide a second driving force to the motion actuator, wherein the working mode of the control mechanism is switched by the manual driving unit.

[0010] In some embodiments, the working mode of the control mechanism includes an automatic control mode corresponding to the automatic drive unit and a manual control mode corresponding to the manual drive unit.

[0011] In some embodiments, switching the working mode of the control mechanism through a manual drive unit includes: the manual drive unit moves from a first position to a second position, so that the working mode of the control mechanism switches from an automatic control mode to a manual control mode; or the manual drive unit moves from the second position to the first position, so that the working mode of the control mechanism switches from a manual control mode to an automatic control mode.

[0012] In some embodiments, the multi-mode power device further comprises an elastic member. Switching the working mode of the control mechanism through the manual drive unit comprises: the manual drive unit moves from the first position to the second position, so that the working mode of the control mechanism switches from the automatic control mode to the manual control mode; or the manual drive unit automatically rebounds from the second position to the first position, so that the working mode of the control mechanism switches from the manual control mode to the automatic control mode.

[0013] In some embodiments, the multi-mode rope driving force system further includes a transmission device configured to output motion information of multi-degree-of-freedom motion performed by the medical probe, the motion information including at least one of position information and angle information. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein:

[0015] Figure 1 A medical treatment system according to some embodiments of the present specification.

[0016] Figures 2A-2D is an exemplary structural diagram of a medical treatment device according to some embodiments of the present specification.

[0017] Figure 3 is a schematic structural diagram of an exemplary multi-mode rope driving force system according to some embodiments of the present specification.

[0018] Figure 4is a schematic diagram of the structure of an exemplary multi-mode power device according to some embodiments of the present specification.

[0019] Figure 5A is a cross-sectional view of an exemplary commander taken along a XOY cross section according to some embodiments of the present specification.

[0020] Figure 5B is a cross-sectional view of an exemplary commander taken along a XOZ section according to some embodiments of the present specification.

[0021] Figure 6 is a schematic diagram of the structure of an exemplary motion actuator according to some embodiments of the present specification.

[0022] Fig. 7A is a front view of an exemplary translational motion module according to some embodiments of the present specification.

[0023] Figure 7B is a rear view of an exemplary translational motion module according to some embodiments of the present specification.

[0024] Figure 8 is a schematic diagram of the structure of an exemplary rotational motion module according to some embodiments of the present specification.

[0025] Fig. 9A is a schematic diagram of the structure of an exemplary motion actuator according to some embodiments of the present specification.

[0026] Fig. 9B and 9C yes Fig. 9A Schematic diagram of the disassembly of the motion actuator.

[0027] Fig.10 is a schematic diagram of the structure of an exemplary rotational motion module according to some embodiments of the present specification.

[0028] Fig.11A and 11B is a schematic diagram of the structure of an exemplary sterile transfer device according to some embodiments of the present specification. DETAILED DESCRIPTION

[0029] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0030] It should be understood that the "system", "device", "unit" and / or "module" used herein are a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

[0031] As shown in this specification and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "comprise" and "include" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0032] Figure 1 A medical treatment system according to some embodiments of the present specification.

[0033] The medical treatment system 100 is used to control the actuator to perform medical diagnosis and / or treatment on the target object. The actuator may include a medical probe. Exemplary medical probes may include laser interstitial thermal therapy (LITT) probes, optical coherence tomography (OCT) probes, magnetic probes, fluorescent probes, etc. The target object may include a biological object (such as a human body, an animal, etc.). For example, the target object may include a human body or a specific part thereof, such as a head, and / or a tissue to be treated, a lesion (such as a brain tumor and an epileptic lesion), etc., or a combination thereof. In order to facilitate understanding of the specific structure of the medical treatment system 100, the medical treatment system 100 is described below using magnetic resonance-guided (MRg) laser interstitial thermal therapy (LITT) as an example. MRg-LITT can determine the position and size of a target object (e.g., a tumor) through magnetic resonance imaging (MRI), thereby effectively and controllably guiding laser radiation to perform thermal therapy on the target object. However, the medical treatment system 100 is not limited to MRg-LITT, and may also be other types of treatment systems, such as MRg microwave therapy, etc.

[0034] For example, Figure 1 As shown, the medical treatment system 100 includes an MRI device 110 , a LITT device 120 , a temperature measuring element 130 , a control device 140 , and a terminal 150 .

[0035] The MRI device 110 is configured to scan a specific area containing a target object and generate an MRI image. The MRI device 110 may be an MRI scanner. The MRI scanner includes a magnet module and a radio frequency (RF) module. The magnet module may include a main magnetic field generator and / or a gradient magnetic field generator. The main magnetic field generator may include a main magnet that generates a static magnetic field B0 during an MRI scan. The main magnet may be a permanent magnet, a superconducting electromagnet, a resistive electromagnet, etc. The gradient magnetic field generator may generate a magnetic field gradient in the X, Y and / or Z directions. Here, the X direction may also be referred to as a readout (RO) direction, the Y direction may also be referred to as a phase encoding (PE) direction, and the Z direction may also be referred to as a slice selection (SS) direction. The gradient magnetic field may encode the spatial information of the target object. The RF module may include an RF transmitting coil and / or a receiving coil. The RF transmitting coil may transmit an RF signal (or radio frequency pulse) to excite a region of interest and generate an MRI signal. The RF receiving coil may receive an echo signal emitted by the region of interest. In some embodiments, the RF signal may be a 30° pulse signal, a 40° pulse signal, a 60° pulse signal, etc. The MRI device 110 may process the MRI signal to generate an MRI image, which may represent anatomical structure information of a specific region of the target object.

[0036] In some embodiments, the function, size, type, geometry, position, and number of the magnet module and / or RF module can be determined or changed according to one or more specific conditions. For example, according to the difference in function and size, the RF coil can be divided into a body coil and a local coil. The body coil can be set as a birdcage coil, a transverse electromagnetic coil, a saddle coil, etc. The local coil may include a phased array coil, a ring coil, etc. In some embodiments, the local coil may include a Holm Hertz head coil. The Holm Hertz head coil can create a small-scale uniform magnetic field in the patient's head area, and send RF signals and receive corresponding head MRI signals. The head MRI signal can be used to image the patient's head and generate a head MRI image.

[0037] In some embodiments, the MRI device 110 can also obtain thermal image data from the MRI scanner for magnetic resonance thermal imaging (MRTI). Based on the thermal image data, a thermal image is reconstructed. The thermal image can represent the temperature change of a specific area containing the target object. In some embodiments, each pixel / voxel in the thermal image can measure the temperature change of a corresponding position in the specific area.

[0038] The LITT device 120 is configured to generate laser light and utilize the thermal effect of the laser light to treat the target object, such as ablating the target object. Based on the MRI image and / or thermal image, the position and size of the target object (e.g., a tumor) can be determined, thereby effectively and controllably guiding the LITT device 120 to radiate laser light to perform thermal therapy on the target object.

[0039] The LITT device 120 includes a laser, a LITT probe, and a channel (such as an optical fiber) and an interface connecting the laser and the LITT probe. The laser can be used to emit laser light. The laser can be a solid laser, a gas laser, a liquid laser, a semiconductor laser, a free electron laser, etc. In some embodiments, the wavelength of the laser generated by the laser is within a certain range, for example, the near-infrared region (0.75-2.5 microns (μm)). The laser emitted by the laser is transmitted to the LITT probe through the optical fiber and the interface.

[0040] The LITT probe, also known as the LITT probe or the LITT diffusion applicator, is used as a treatment probe to deliver the laser generated by the laser to the target object to achieve ablation treatment of the lesion. The LITT probe includes a probe body. The probe body can be set to different structures. Under different structures, the position of the laser emission is different. Specifically, according to the different emission positions, the LITT probe can be divided into a LITT lateral ablation probe and a LITT circumferential ablation probe. The LITT lateral ablation probe refers to a LITT probe in which the laser emission position is located at the end (distal end) of the probe. At this time, the direction of laser emission is the same as the axial direction of the LITT probe or at a certain angle. The LITT circumferential ablation probe refers to a LITT probe in which the laser emission positions are evenly distributed around the circumference of the probe. At this time, the direction of laser emission is the radial direction of the LITT probe, and it is evenly diffused around the circumference of the LITT probe.

[0041] The temperature measuring element 130 is used to measure the temperature of the target object or its surrounding tissue and / or the LITT probe. For example, the temperature measuring element 130 can approach the target object and obtain the temperature of the target object and its surrounding tissue. Based on the temperature of the target object and its surrounding tissue, the LITT device 120 can transfer heat to the target object through the LITT probe in a controlled manner to treat the target object and protect the healthy tissue around the target object.

[0042] The temperature measuring element 130 may include a thermocouple, a fiber Bragg grating (FBG) sensor, etc. The thermocouple can directly measure the temperature and convert the temperature signal into a thermoelectric potential signal. The thermoelectric potential signal can be further converted into the temperature of the object being measured. The thermocouple may include a K-type thermocouple, a T-type thermocouple, an E-type thermocouple, an S-type thermocouple, a B-type thermocouple, etc. In some embodiments, the thermocouple is a K-type thermocouple.

[0043] The FBG sensor is a sensor that makes a grating with a periodic refractive index distribution at a specific position of the optical fiber, and uses this grating area as the sensing area. Light waves of a specific wavelength (Bragg reflected light) are reflected in this grating area. The reflected central wavelength signal is related to the grating period and the effective refractive index of the fiber core. When the temperature of the object being measured changes, the period of the grating and the effective refractive index of the fiber core mode change, thereby changing the Bragg central wavelength. The Bragg wavelength of the reflected light can be detected by spectral analysis or other wavelength demodulation technology to obtain the value of the temperature.

[0044] The control device 140 is used to control one or more components of the medical treatment system 100 and perform corresponding operations. The control device 140 can generate corresponding instructions based on the controlled components and the operations to be performed. The instructions are transmitted to the controlled components in the form of electrical signals, so that the components perform corresponding operations. Exemplarily, the control device 140 can receive request or command information input through the terminal 150, and information generated by the MRI device 110 and / or the temperature measuring element 130 (for example, images, temperature data, etc.). Based on the above information, the control device 140 can generate control instructions. The control instructions can be sent to the LITT device 120 for treating the target object.

[0045] In some embodiments, the control device 140 may be a microcontroller unit (MCU), a central processing unit (CPU), a programmable logic device (PLD), an application specific integrated circuit (ASIC), a single chip microcomputer (SCM), a system on chip (SoC), etc.

[0046] Terminal 150 can be used for input / output of information (e.g., images, data, etc.). Terminal 150 may include a computer, a removable device (e.g., a mobile phone, a tablet computer, a laptop computer), etc., or any combination thereof. In some embodiments, terminal 150 may include a wearable device, a virtual reality device, an augmented reality device, etc., or any combination thereof. Wearable devices include bracelets, glasses, helmets, watches, etc., or any combination thereof. Virtual reality devices and / or augmented reality devices include virtual reality helmets, virtual reality glasses, virtual reality goggles, augmented reality helmets, augmented reality glasses, augmented reality goggles, etc., or any combination thereof. For example, virtual reality devices and / or augmented reality devices may include Google GlassTM 、Oculus Rift TM 、Hololens TM 、Gear VR TM Etc. In some embodiments, the terminal 150 may be a part of the control device 140 .

[0047] Each device or component of the medical treatment system 100 may be a local device or component, or a remote device or component. Each device or component is connected in one or more various ways. As an example only, the control device 140 may be a remote device, and the LITT device 110 and the MRI device 120 may be connected to the control device 140 via a network. For another example, the control device 140 may be a local device, and the LITT device 110 and the MRI device 120 may be directly connected to the control device 140. As a further example, the terminal 150 may be connected to the control device 140 directly or via a network. The network may include any suitable network that facilitates information and / or data exchange of the medical treatment system 100. In some embodiments, the network may be and / or include a public network (e.g., the Internet), a private network (e.g., a local area network (LAN), a wide area network (WAN)), a wired network (e.g., an Ethernet network), a wireless network (e.g., an 802.11 network, a Wi-Fi network), a cellular network (e.g., a Long Term Evolution (LTE) network), a frame relay network, a virtual private network (“VPN”), a satellite network, a telephone network, a router, a hub, a switch, a server computer, and / or any combination thereof. By way of example only, the network may include a cable network, a wired network, a fiber optic network, a telecommunications network, an intranet, a wireless local area network (WLAN), a metropolitan area network (MAN), a public switched telephone network (PSTN), a Bluetooth™ network, a ZigBee™ network, a near field communication (NFC) network, the like, or any combination thereof.

[0048] It should be noted that the above description of the medical treatment system 100 and its components / modules is only for convenience of description and does not limit the present application to the scope of the embodiments. It is understandable that, after understanding the principle of the system, those skilled in the art may make various modifications and changes to the medical treatment system 100 without departing from the principle, for example, any combination of the modules or forming a subsystem connected with other modules. However, these modifications and changes are still within the scope of the present specification.

[0049] For example, the medical treatment system 100 may also include an optical coherence tomography (OCT) device (not shown). The OCT device uses low-coherence interference of a broadband light source to image the target object and generate a high-resolution (e.g., micrometer-level) and / or ultra-depth OCT image. The OCT device includes a time-domain optical coherence tomography (TDOCT) device, a spectral domain optical coherence tomography (SDOCT) device, and / or a swept frequency optical coherence tomography (SSOCT) device.

[0050] Figures 2A-2D is an exemplary structural diagram of a medical treatment device according to some embodiments of the present specification.

[0051] In some embodiments, the medical treatment device 200 may be a device that integrates various devices and components (local or remote) in the medical treatment system 100. As shown in the figure, the medical treatment device 200 may include a supporting fixed platform 201, an MRI device 202, a head coil 203, a LITT device (not shown in the figure), an OCT device (not shown in the figure), a temperature measuring element (not shown in the figure), a cooling device (not shown in the figure), a driving device 204, an interface platform 205, a control relay platform 206, an integrated component 207, a control device 208, and a terminal 209.

[0052] The support and fixation platform 201, also referred to as a treatment bed, is used to support and / or fix the patient to prevent displacement of the patient or a specific part of the patient during treatment. In some embodiments, the support and fixation platform 201 can move (e.g., translate, tilt, rotate, etc.) based on the control instructions issued by the control device 208 during medical diagnosis and / or treatment to adjust the patient's body position. For example, the support and fixation platform 201 can translate or tilt based on the control instructions issued by the control device 208 during MRI scanning and imaging to provide a better scanning position reference for MRI.

[0053] The MRI device 202 is used to image a specific area including a target object (e.g., a tumor in the patient's brain) to generate an MRI image. The MRI image may be a real-time MRI image or a non-real-time MRI image. The MRI image may include a three-dimensional image or multiple two-dimensional images (e.g., cross-sectional, coronal, and sagittal images) to characterize information about the target object in three-dimensional space (e.g., position and size, etc.). The information about the target object in three-dimensional space provided by the MRI image can be used to plan the path for the LITT probe, OCT probe, and / or temperature measuring element to pass through human tissue to reach the target object before treatment (referred to as needle insertion planning). The information about the target object in three-dimensional space provided by the MRI image can also be used to guide the LITT probe, OCT probe, and / or temperature measuring element to enter human tissue along the planned path and reach the target object during treatment (referred to as needle insertion guidance). In some embodiments, the MRI image may be displayed on the terminal 209. A user, such as a doctor, can perform needle insertion planning and needle insertion guidance of the LITT probe based on the MRI image through the terminal 209 (e.g., physical elements such as a touch screen, mouse, and keyboard on the terminal 209). In some embodiments, the system may also automatically perform needle insertion planning and guidance of the LITT probe based on the MRI image.

[0054] In some embodiments, the MRI device 202 may also perform magnetic resonance thermal imaging on a specific area including the target object to generate a thermal image. The thermal image may be registered with the MRI image to simultaneously represent the anatomical structure information of the specific area including the target object and the temperature change information of the corresponding position.

[0055] The head coil 203 is used to provide a deeper head MRI signal. In some embodiments, the head coil 203 is a Holm Hertz magnetic coil. When the target object (e.g., a tumor) is in the patient's brain, the head coil 203 can transmit an RF signal and receive a head MRI signal. The head MRI signal collected by the head coil 203 has a higher signal-to-noise ratio (SNR) than the MRI signal collected by the MRI device 202. Therefore, in the head MRI image reconstructed based on the head MRI signal collected by the head coil 203, the information of the target object is more accurate. In the present application, the head coil 203 can be coupled to the MRI device 202 through an interface to generate a more accurate head MRI image.

[0056] In some embodiments, the head coil 203 can acquire head thermal image data for head MRTI. Based on the head thermal image data, a patient head thermal image can be reconstructed. In some embodiments, the head coil 203 can also support and fix the patient's head.

[0057] The LITT device is used to generate laser and use the thermal effect of the laser to treat the target object. The LITT device includes a laser, a LITT probe (for example, a LITT lateral ablation probe, a LITT circumferential ablation probe), and a channel (such as an optical fiber) and an interface connecting the laser and the LITT probe. In some embodiments, the laser may include a tunable laser diode and / or a non-tunable laser diode. The laser power of the tunable laser diode is tunable within a specific range, for example, 0W-500W, 10-250W, 50-150W, etc. The laser power of the non-tunable laser diode is a specific value, for example, 10W, 12W, 15W, 20W, 30W, 60W, 100W, 150W, etc.

[0058] In some embodiments, the LITT device includes a LITT probe displacement controller 210 for controlling the displacement of the LITT probe. When treating the target object, the LITT probe displacement controller 210 controls the LITT probe to pass through the patient's skull through the needle insertion channel fixed on the interface platform 206, enter the patient's skull, and reach the location of the target object according to the needle insertion plan and needle insertion guidance. Among them, the interface platform 206 is fixed to the patient's head. In some embodiments, the medical treatment device 200 may include a displacement sensor (not shown in the figure) for real-time feedback of the displacement data of the LITT probe during the needle insertion process. The displacement sensor can be, for example, a piezoelectric sensor, an inductive sensor, an eddy current sensor, etc. The displacement sensor can be connected to the LITT probe. The displacement sensor can be set on the interface platform 206.

[0059] In some embodiments, the laser light emitted by the laser is processed by the optical path relay processing device 211 and then transmitted to the LITT probe. The optical path relay processing device 211 can adjust the parameters of the laser light (e.g., power, frequency, etc.). For example, the optical path relay processing device 211 can compensate for the attenuation of the laser light to achieve a specific power, or attenuate the laser light so that its power meets the needs of treatment. The optical path relay processing device 211 is disposed on the control relay platform 204.

[0060] Based on the light transmittance of biological structures, the OCT device detects the reflection, scattering and other signals of biological tissues, converts them into electrical signals, and generates OCT images. The OCT image is a real-time OCT image, or a non-real-time OCT image. The OCT device includes a light source, an OCT probe, an interference component, and an optical fiber and an interface connecting the components. The light source uses a low-coherence light source to improve the longitudinal resolution of imaging. In this embodiment, the OCT device can be a dual-mode OCT, and its light source can generate optical signals with two different parameters (bandwidth, central wavelength). Exemplarily, the dual-mode OCT uses an optical signal with a bandwidth of more than 160nm and a central wavelength of 840nm, and a sweep range of more than 100nm and a central wavelength of 1300nm. Dual-mode OCT can provide pathological imaging with a resolution close to 1μm and a depth of cm.

[0061] On the propagation path of the optical signal generated by the OCT device (for example, at the rotary joint), an optical fiber slip ring device 212 can be used to ensure uninterrupted transmission of the optical signal. For dual-mode OCT, a multi-channel optical fiber slip ring device (such as a dual-channel optical fiber slip ring device to adapt to the above-mentioned two optical signals with different central wavelengths) can be used, also known as a multi-mode optical fiber slip ring device. The optical fiber slip ring device 212 can be set on the control relay platform 206.

[0062] The temperature measuring element is used to measure the temperature of the target object or its surrounding tissue and / or the LITT probe. The temperature measuring element may include a thermocouple (such as a K-type thermocouple), an FBG sensor, and the like.

[0063] The cooling device is used to control the temperature of the LITT probe. Since the LITT probe treats the target object by emitting laser light and utilizing the thermal effect of the laser light, the temperature of the LITT probe will increase as the treatment time increases. Excessive temperature will not only affect the normal operation of the probe, but also damage normal human tissue and may cause postoperative sequelae. When the temperature of the LITT probe is too high, the cooling device will cool the probe by a specific cooling medium (e.g., CO) through the cooling channel 214. 2 The cooling device includes a cooling source (not shown), a cooling control element 213 and a cooling channel 214. The cooling source is used to store a cooling medium. For example, the cooling medium may be CO 2 The cooling source may be CO 2 Gas source tank, used to store CO 2 The cooling control element 213 can control the on / off of the cooling source, as well as the parameters of the cooling medium (e.g., CO 2 Gas flow rate, pressure), etc.

[0064] In some embodiments, the LITT probe, OCT probe, temperature measuring element and / or cooling channel can be integrated into one to form an integrated probe for diagnosis and treatment. For example, the temperature measuring element and the LITT probe can be integrated into one to form an integrated probe. For another example, the OCT probe can be integrated with the temperature measuring element and the LITT probe to form an integrated probe. For another example, the LITT probe, OCT probe, temperature measuring element and cooling channel can be integrated into one to form an integrated probe.

[0065] The driving device 204 is used to drive the medical probe (e.g., LITT probe, OCT probe, integrated probe) to move to the location of the target object (needle insertion) or away from the location of the target object (withdrawal). The movement may include linear translation and rotation. In some embodiments, the driving device 204 is a multi-mode rope driving force system. The multi-mode rope driving force system includes a multi-mode power device, a cable, and a motion actuator.

[0066] The medical probe is physically connected to the motion actuator. Through the cable and the motion actuator, the driving force (e.g., the first driving force or the second driving force) output by the multi-mode power device can be transmitted to the medical probe to control its movement. Figure 2B As shown, the cables include a translation cable 215 and a rotation cable 216. Correspondingly, the motion actuator includes a translation actuator 217 and a rotation actuator 218. The translation actuator 217 is used to control the translation movement of the medical probe. The rotation actuator 218 is used to control the rotation movement of the medical probe. The translation cable 215 and the rotation cable 216 are connected to the translation actuator 217 and the rotation actuator 218, respectively. In some embodiments, the cables (such as the translation cable 215 and the rotation cable 216) are specifically silk threads with high rigidity and low elastic modulus, and can complete torque transmission in real time 1:1 to ensure the accuracy of driving the movement of the medical probe.

[0067] The multi-mode power device can drive the translation cable 215 and / or the rotation cable 216 to move as needed, and control the translation and / or rotation movement of the medical probe via the translation actuator 217 and / or the rotation actuator 218, so as to achieve precise motion control of two degrees of freedom of the medical probe (for example, LITT probe, OCT probe, integrated probe). In some embodiments, the motion actuator composed of the translation actuator 217 and the rotation actuator 218 can be arranged on the interface platform 205. For example, the motion actuator can be fixedly connected to the interface platform 205 by a hollow bone screw. For the specific structure and working principle of the driving device 204, reference can be made to other drawings in this application (for example, Figure 3-11B ) and its description are not repeated here.

[0068] The interface platform 205 can carry one or more components or elements of the medical treatment device 200. Exemplarily, the components or elements carried include the needle insertion channel of the above-mentioned LITT probe, a displacement sensor, a motion actuator (such as a translation actuator 217 and a rotation actuator 218), etc. In some embodiments, the interface platform 205 can be a dual-axis stereo frame, as shown in the figure. The interface platform 205 can be fixed to the patient's head (skull) and maintain a stable connection with the patient's head without relative displacement. The components or elements carried by the interface platform 205 can be fixedly connected to the dual-axis stereo frame. The LITT probe (the above-mentioned integrated probe) can enter the patient's skull through the needle insertion channel provided by the interface platform 205 and the needle insertion planning path, and accurately reach the location of the target object.

[0069] The control relay platform 206 integrates the mid-stage or relay control of one or more components or elements of the medical treatment device 200. Exemplarily, the control relay platform 206 integrates the above-mentioned LITT probe displacement controller 210, the optical path relay processing device 211, the OCT fiber slip ring 212, the cooling control element 213, and some components of the driving device 204, such as the multi-mode power device.

[0070] like Figure 2C As shown, a packaging box is provided on the control relay platform 206. The LITT probe displacement controller 210, the optical path relay processing device 211, the OCT optical fiber slip ring 212, and the cooling control element 213 are provided in the packaging box.

[0071] As shown in the figure, five channels are led out of the packaging box, including OCT probe channel 219 (optical fiber), LITT probe channel 220 (optical fiber), cooling channel 214, temperature measuring element control cable channel 221 and displacement sensor cable channel 222. Among them, OCT optical fiber slip ring 212 connects OCT probe channel 219; optical path relay processing device 211 connects LITT probe channel 220 and temperature measuring element control cable channel 221; cooling control element 213 connects cooling channel 214; LITT probe displacement controller 210 connects displacement sensor cable channel 222.

[0072] The integrated component 207 is used to integrate the signal control cable, optical channel, cooling channel, etc. of the medical treatment device 200. In some embodiments, Figure 2DAs shown, the integrated component 207 can integrate the OCT probe channel 219, the LITT probe channel 220, the cooling channel 214, and the temperature measuring element control cable channel 221, for example, mechanical coupling. The integrated component 207 includes an integrated pipeline that can accommodate the OCT probe channel 219, the LITT probe channel 220, the cooling channel 214, and the temperature measuring element control cable channel 221. The integrated pipeline can be connected to the integrated probe, for example, sealed to the housing of the integrated probe. By integrating the signal control cable, optical channel, cooling channel, etc. of the medical treatment device 200 through the integrated component 207, the pipeline transmission efficiency can be optimized and the stability of the operation of the entire medical treatment device 200 can be improved.

[0073] The control device 208 can be used to control one or more components of the medical treatment device 200 and perform corresponding operations. The control device 208 can generate corresponding instructions based on the controlled components and the operations to be performed. The instructions are transmitted to the corresponding components in the form of electrical signals, so that the components perform corresponding operations. In some embodiments, the control device 208 integrates an OCT imaging control module, a LITT treatment control module, a temperature measuring element temperature control module, a head coil imaging registration module, a cooling system control module, a LITT probe position sensing control module, a drive control module, a support fixed platform control module, etc.

[0074] The terminal 209 can display the information related to each component and the patient in the medical treatment device 200 in the form of images, data, etc. Exemplarily, the terminal 209 can display the MRI image, thermal image, registration image of the MRI image and the thermal image, OCT image, temperature information measured by the temperature measuring element, and cooling information of the LITT probe by the cooling device. In some embodiments, the terminal 209 can also receive information input by the user. The information input through the terminal 209 can include images, numbers, text, voice, etc. For example, the user can input one or more operation instructions through the terminal 209. The operation instructions may include instructions for adjusting the patient's body position layout, MRI equipment 202, head coil 203, LITT equipment (such as LITT probe), OCT equipment (such as OCT probe), cooling equipment, etc. Working mode / parameter setting instructions, LITT probe needle path planning instructions during treatment, etc. The information input through the terminal 209 can be sent to the control device 208. The control device 208 can generate control instructions to control the corresponding equipment or components to perform corresponding operations. In some embodiments, the terminal 209 can be or include, such as a computer, a mobile phone, a tablet computer, a console, etc.

[0075] All of the above components are MRI compatible, which refers to the ability of the components to be used in an MRI environment. Under a certain magnetic flux density, the operation of MRI compatible components will not significantly interfere with the MRI, for example, for a specific environment (e.g., 0.5T, 0.75T, 1T, 1.5T, 2.0T, 3.0T, etc.), the operation of the above components is not dangerous.

[0076] Figure 3 is a schematic structural diagram of an exemplary multi-mode rope driving force system 300 according to some embodiments of the present specification.

[0077] The driving device 204 can be used to drive the movement of a medical probe (e.g., a LITT probe, an OCT probe, an integrated probe) to reach the location of the target object (needle insertion) or move away from the location of the target object (withdrawal). In order to facilitate understanding of the specific structure of the driving device 204, the driving device 204 is described below using the multi-mode rope driving force system 300 as an example. However, the driving device 204 is not limited to the multi-mode rope driving force system 300, and may also be other types of driving systems, such as a single-mode rope driving force system, a multi-mode shaft driving force system, etc. Similarly, the multi-mode rope driving force system 300 is not limited to driving the movement of a medical probe, but may also be other movements, such as driving the movement of any object that can be connected.

[0078] like Figure 3 As shown, the multi-mode cable driving force system 300 includes a multi-mode power device 310, a cable 320 and a motion actuator 330. The driving force (eg, the first driving force or the second driving force) provided by the multi-mode power device 310 can be transmitted to the motion actuator 330 through the cable 320 to drive the medical probe to move.

[0079] The multi-mode power device 310 is a power device that can switch between different modes. The different modes may include an automatic control mode and a manual control mode. In some embodiments, the multi-mode power device 310 may include a manual control component and an automatic control component. The manual control component may include at least one manual drive unit for providing a first driving force (i.e., a manual drive force). An exemplary manual drive unit may include a drive knob, a hand wheel, etc., or any combination thereof. For the specific structure and working principle of the manual control component, reference may be made to other drawings in this application (e.g., Figure 5A and 5B) and its description, which will not be repeated here. The automatic control component may include at least one automatic drive unit for providing the second driving force (i.e., the automatic drive force). Exemplary automatic drive units may include a drive motor, an electromagnetic drive device, a pneumatic drive device, a hydraulic drive device, a gas drive device, an electric drive device, etc., or any combination thereof. In some embodiments, the automatic control component may use the same type of automatic drive unit. For example, the automatic drive units of the automatic control component may all be drive motors. In some embodiments, the automatic control component may use different types of automatic drive units. For example, the automatic drive unit of the automatic control component may include a drive motor and an electromagnetic drive device. In some embodiments, the automatic control component may be a separate component. In some embodiments, the automatic control component may be a part of the control relay platform 206. For example, at least one automatic drive unit may be provided inside the control relay platform 206 to provide the second driving force.

[0080] In some embodiments, the manual control component and the automatic control component can provide the first driving force and the second driving force respectively through the transmission component. Figure 4 The multi-mode power device 310 includes a commander 311 and an automatic control component 315 (e.g., a control relay platform 206). The commander 311 can accommodate at least one manual drive unit of the manual control component, and the automatic control component 315 can accommodate at least one automatic drive unit. Figure 4As shown, the commander 311 may include a manual control component, a first housing 3113 and a transmission component, wherein the manual control component includes a manual drive unit 3111 and a manual drive unit 3112. The automatic control component 315 may include at least one automatic drive unit (not shown) and a second housing 3151. In some embodiments, the automatic control component 315 may further include at least one of a positioning member 3152, a fixing member 3153 and a touch screen 3155. The positioning member 3152 is used to determine the installation position of the commander 311. For example, the positioning member 3152 may be a positioning hole, which may cooperate with the commander 311 (for example, a positioning shaft at the bottom of the commander 311), so as to accurately position the commander 311 on the automatic control component 315. For another example, the positioning member 3152 may be a positioning boss, which may cooperate with the commander 311 (for example, a positioning hole at the bottom of the commander 311), so as to accurately position the commander 311 on the automatic control component 315. After the positioning is completed, the commander 311 can be connected to the automatic control component 315 by transmission. For example, the gear of the transmission component of the commander can be connected to the output gear 3154 of at least one automatic drive unit of the automatic control component 315 by transmission, so that the commander 311 can transmit the second driving force provided by the automatic control component 315. At this time, the manual control component and the automatic control component 315 can be connected to the gears of the transmission component by transmission, so as to provide the first driving force and the second driving force respectively. In some embodiments, after the commander 311 is installed on the automatic control component 315, it can be fixed by the fixing member 3153. For example, the fixing member 3153 can be a knob. By rotating the knob, the commander 311 can be fixed or removed from the automatic control component 315. For another example, the fixing member 3153 can be a buckle. By locking the buckle, the commander 311 can be fixed on the automatic control component 315. By unlocking the buckle, the commander 311 can be removed from the automatic control component 315. The touch screen 3155 can be embedded in the second housing 3151. In some embodiments, the touch screen 3155 can be used to control the rotation of at least one automatic drive unit.

[0081] In some embodiments, the working mode of the multi-mode power device 310 can be switched by a manual drive unit (e.g., manual drive unit 3111 and manual drive unit 3112). For example, in the initial state (when the manual drive unit is not controlled or the manual drive unit is in the first position), the multi-mode power device 310 can be in the automatic control mode. By controlling the manual drive unit to move from the first position to the second position, the working mode of the multi-mode power device 310 can be switched, for example, from the automatic control mode to the manual control mode. For another example, in the control state (when the manual drive unit is controlled or the manual drive unit is in the second position), the multi-mode power device 310 can be in the manual control mode. By controlling the manual drive unit to move from the second position to the first position, the working mode of the multi-mode power device 310 can be switched, for example, from the manual control mode to the automatic control mode. In some embodiments, the multi-mode power device 310 can also include an elastic member. When the manual drive unit is controlled to move from the first position to the second position, the elastic member is compressed; when the external force is stopped, the elastic member stops deforming, so that the manual drive unit automatically rebounds from the second position to the first position. At this time, the working mode of the multi-mode power device 310 is switched from the manual control mode to the automatic control mode.

[0082] Through the manual control component, the working mode of the multi-mode power device can be freely switched, thereby improving the convenience and flexibility of using the multi-mode power device.

[0083] The cable 320 may include a translation cable and a rotation cable, which respectively drive the linear translation motion and rotation motion of the medical probe. For example, the cable 320 may be connected to the multi-mode power device 310 (e.g., the commander 311), so as to transmit the first driving force provided by the manual control component of the commander 311, or transmit the second driving force provided by the automatic control component 315 via the commander 311 (e.g., the transmission component of the commander 311). In some embodiments, one end of the cable 320 may be connected to the multi-mode power device 310 (e.g., the commander 311), and the other end of the cable 320 may be connected to the motion actuator 330. Therefore, the cable 320 may transmit the driving force provided by the multi-mode power device 310 to the motion actuator 330, thereby driving the linear translation motion and rotation motion of the medical probe.

[0084] The motion actuator 330 is used to connect a medical probe (e.g., a LITT probe, an OCT probe, an integrated probe). For example, the motion actuator 330 includes a fixing member for fixing the medical probe. In some embodiments, the motion actuator 330 may include a translational motion module and a rotational motion module. The translational motion module is used to control the linear translational motion of the medical probe, and the rotational motion module is used to control the rotational motion of the medical probe. For example, see Figure 6The motion actuator 330 may be composed of a translational motion module 331 and a rotational motion module 332. For example, the rotational motion module 332 may be fixedly connected to the translational motion module 331. Therefore, during the movement of the translational motion module 331, the movable parts of the rotational motion module 332 and the translational motion module 331 (e.g., the slider 3321) are relatively stationary. Exemplary connection methods may include bolt connection, welding, riveting, adhesive connection, etc. or any combination thereof.

[0085] In some embodiments, the motion actuator 330 may further include a sterile adapter. The sterile adapter is detachably connected to the rotational motion module, and the rotational motion module is fixedly connected to the translational motion module. Therefore, during the movement of the movable part of the translational motion module, the rotational motion module and the sterile adapter are relatively stationary with respect to the movable part of the translational motion module. For the specific structure and working principle of the motion actuator, please refer to other drawings in this application (for example, Figure 6-11B ) and its description are not repeated here.

[0086] In some embodiments, the multi-mode rope driving force system 300 also includes a transmission device 340 for transmitting the motion (e.g., linear translation and / or rotational motion) data of the motion actuator 330 and / or the medical probe. For example, the transmission device 340 is a data line that can be connected to an external device (e.g., a control device 140, a control device 208, an external computing device, etc.) to transmit the motion data. For another example, the transmission device 340 is a data interface that can be connected to an external data line to transmit the motion data. For another example, the transmission device 340 is a wireless transmission device (e.g., a Bluetooth device, a wireless network, etc.) that can remotely transmit the motion data. By transmitting the motion data, the motion of the motion actuator 330 and / or the medical probe can be controlled in real time, and precise control of the medical probe can be achieved, thereby improving the accuracy and safety of the use of the medical probe.

[0087] In some embodiments, when the multi-mode rope driving force system 300 includes a sterile adapter, the multi-mode rope driving force system 300 may also include a sterile device 350 to ensure that the medical probe is in a sterile state during use. For example, the sterile device 350 is at least one of a sterile film, a sterile bag, etc. The sterile device 350 can be used to establish a sterile barrier so that the medical probe is in a sterile state during use, meeting the use requirements of the medical probe. As an example only, the sterile device 350 can be fixed on the sterile adapter of the motion actuator 330, and sleeved on the translational motion module 331 and the rotational motion module 332 of the motion actuator 330, the cable 320 and the transmission device 340, thereby establishing a sterile barrier so that the sterile adapter of the motion actuator 330 and the medical probe are both in a sterile state. At this time, the sterile adapter and the sterile device 350 are disposable consumables.

[0088] In some embodiments, when the multi-mode rope driving force system 300 does not include a sterile adapter and / or a sterile device 350, the multi-mode rope driving force system 300 can be a disposable consumable. For example, the multi-mode power device 310, the cable 320, the motion actuator 330 and the transmission device 340 are disposable consumables.

[0089] It should be noted that the above description of the multi-mode rope driving force system 300 and its components / modules is only for convenience of description and does not limit the present application to the scope of the embodiments. It is understandable that, after understanding the principle of the system, a person skilled in the art may make various modifications and changes to the multi-mode rope driving force system 300 without departing from the principle, for example, any combination of the modules or forming a subsystem connected with other modules. However, these modifications and changes are still within the scope of the present specification.

[0090] Figure 5A is a cross-sectional view of an exemplary commander 311 cut along a XOY section according to some embodiments of the present specification. Figure 5B 3 is a cross-sectional view of an exemplary commander 311 cut along the XOZ section according to some embodiments of the present specification. The X-axis is the axial direction of the manual drive unit (e.g., manual drive unit 3111, manual drive unit 3112) of the commander 311, the Y-axis is the vertical direction of the commander 311, and the Z-axis is the horizontal direction perpendicular to the axial direction of the manual drive unit of the commander 311.

[0091] The commander 311 may include a manual drive unit 3111, a manual drive unit 3112, and a transmission assembly. In some embodiments, the commander 311 is a left-right symmetrical structure. That is, the manual drive unit 3111 located on the left side of the commander 311 and the manual drive unit 3112 located on the right side of the commander 311 have the same structure, and the transmission assembly located on the left side of the commander 311 and the transmission assembly located on the right side of the commander 311 have the same structure. In some embodiments, the manual drive unit 3111 and the manual drive unit 3112 may have different structures. In some embodiments, the manual drive unit in the commander 311 can provide a first driving force for the medical probe to perform a single degree of freedom motion. Exemplary single degree of freedom motions may include linear translation motion or rotation motion. For example, the manual drive unit 3111 can provide a first driving force for the medical probe to perform a linear translation motion, and the manual drive unit 3112 can provide a first driving force for the medical probe to perform a rotation motion. For another example, the manual drive unit 3111 can provide a first driving force for the medical probe to perform a rotation motion, and the manual drive unit 3112 can provide a first driving force for the medical probe to perform a linear translation motion. It should be noted that the manual control assembly in the figure has two manual drive units for illustration purposes only and is not intended to limit the scope of the present application. For example, the manual control assembly may include one, three or more manual drive units.

[0092] like Figure 5A and 5B As shown, the commander 311 is a left-right symmetrical structure. For the convenience of description, only the manual drive unit 3111 and the transmission assembly on the left are described.

[0093] The manual drive unit 3111 may be a first hand wheel 3121. The transmission assembly may include a first spring 3124 (or elastic member), a support seat 3125, a first gear shaft 3126, a first winding shaft 3127, an eccentric pin 3128, a second winding shaft 3129, a base 3130, a second gear shaft 3131, a stop block 3132, a pressure plate 3133, a stop pin 3134, a lead wire 3135, a first guide tube 3136, a spring block 3137, a second guide tube 3138, a guide pin 3139 and a second spring 3140.

[0094] The first gear shaft 3126 passes through the support seat 3125 and is fixedly connected to the first hand wheel 3121 . A first spring 3124 is sandwiched between the right side of the first hand wheel 3121 and the left side of the support seat 3125 . The support seat 3125 is fixed to the base 3130 .

[0095] In some embodiments, the working mode of the multi-mode power device 310 can be switched by the first spring 3124. For example, when the manual drive unit 3111 (for example, the first hand wheel 3121) is in the initial position (first position), the first gear shaft 3126 is in transmission connection with the automatic drive unit (for example, the first gear shaft 3126 is meshed with the output gear 3154 of the automatic drive unit). At this time, because the automatic drive unit is in a self-locking state, the self-locking force of the automatic drive unit acts on the first gear shaft 3126, so that the manual drive unit 3111 cannot rotate. Accordingly, the multi-mode power device 310 is in an automatic control mode. By controlling the manual drive unit 3111 (for example, the first hand wheel 3121) to move from the initial position (first position) to the second position, that is, compressing the first spring 3124, the first gear shaft 3126 can be disconnected from the automatic drive unit (for example, the first gear shaft 3126 is disengaged from the output gear 3154 of the automatic drive unit). At this time, the first hand wheel 3121 can be freely rotated to provide the first driving force. Accordingly, the control mode of the multi-mode power device 310 is switched from the automatic control mode to the manual control mode. The first hand wheel 3121 is released, and under the action of the elastic force of the first spring 3124, the first hand wheel 3121 and the first gear shaft 3126 return to the initial position (first position), and the first gear shaft 106 is re-engaged. Accordingly, the control mode of the multi-mode power device 310 is automatically switched from the manual control mode to the automatic control mode.

[0096] The first winding shaft 3127 and the second winding shaft 3129 are fixed to the base 3130 and can rotate freely around their own axes. The ends of the first winding shaft 3127 and the second winding shaft 3129 are designed with bevel teeth with the same number of teeth. The first gear shaft 3126 is connected to the first winding shaft 3127 through the eccentric pin 3128, and the eccentric pin 3128 is fixedly connected to the first winding shaft 3127. When the first hand wheel 3121 is pressed, the first gear shaft 3126 slides along the eccentric pin 3128. When the first hand wheel 3121 is turned, the eccentric pin 3128 transmits the rotation of the first gear shaft 3126 to the first winding shaft 3127.

[0097] The first winding shaft 3127 and the second winding shaft 3129 are meshedly connected by the second gear shaft 3131, so that the first winding shaft 3127 and the second winding shaft 3129 can rotate in opposite directions. A limit block 3132 is installed at the end of the second gear shaft 3131, and the limit block 3132 rotates with the second gear shaft 3131. A limit pin 3134 is provided on the pressure plate 3133 that fixes the second gear shaft 3131, which can limit the limit block 3132, thereby realizing the limitation of the motion actuator 330 and / or the medical probe in two degrees of freedom. Therefore, the movement of the motion actuator 330 and / or the medical probe can be limited within a certain range, thereby improving the safety of the use of the medical probe.

[0098] In some embodiments, the lead wire 3135 can output the first driving force provided by the manual drive unit 3111, or the second driving force through the manual drive unit 3111. For example, the lead wire 3135 can be a part of the cable 320. That is, the lead wire 3135 is directly used to provide the driving force (the first driving force or the second driving force) to the motion actuator 330. Specifically, one end of the lead wire 3135 is wound around the first winding shaft 3127, passes through the spring block 3137 and the first conduit 3136 to be connected to the motion actuator 330, and then passes through the second conduit 3138 and the spring block 3137 via the motion actuator 330, and the other end of the lead wire 3135 is wound around the second winding shaft 3129.

[0099] In some embodiments, a group of guide pins 3139 are mounted on the base 3130, and a second spring 3140 is sleeved on the guide pins 3139. The spring block 3137 can slide on the guide pins 3139, and under the elastic force of the second spring 3140, the lead 3135 is in a tensioned state. Therefore, the lead 3135 can control the movement of a single degree of freedom. For example, the lead 3135 can simultaneously control the forward or backward movement of the motion actuator 330 in linear translation movement. For another example, the lead 3135 can simultaneously control the clockwise rotation or counterclockwise rotation of the motion actuator 330 in rotation movement.

[0100] Therefore, through the manual drive unit 3111, the multi-mode power device 310 can freely switch between the manual control mode and the automatic control mode, thereby improving the convenience and flexibility of switching the working modes, and further improving the efficiency of using the medical probe.

[0101] It should be noted that the manual control assembly in the figure is only for illustrative purposes and is not intended to limit the scope of the present application. For example, when the manual drive unit 3111 of the commander 311 is in the first position, the multi-mode power device 310 can be in the manual control mode, and when it is in the second position, the multi-mode power device 310 can be in the automatic control mode. For another example, the manual drive unit 3111 of the commander 311 may not have the first spring 3124, and the manual drive unit 3111 is manually controlled to move between the first position and the second position to switch the working mode of the multi-mode power device 310.

[0102] Fig. 7A is a front view of an exemplary translational motion module 331 according to some embodiments of the present specification. Figure 7B is a rear view of an exemplary translational motion module 331 according to some embodiments of the present specification.

[0103] The translational motion module 331 may include a base 3311 , a cable 3312 , a support plate 3313 , a fixing member 3314 , a rear cover 3315 , a circuit board 3316 , a linear potentiometer 3317 , a gear 3318 , a rack 3319 , a slider 3321 , and a winding shaft 3322 .

[0104] The support plate 3313 is fixed on the base 3311, and can be connected to an external component (for example, a hollow bone screw on the interface platform 205), and fixed by a fixing member 3314. The fixing member 3314 can be a hand screw, a rivet, etc. The winding shaft 3322 passes through the slider 3321, is supported by a corresponding bearing or sleeve, and is fixed to the gear 3318. The lead wire (for example, the lead wire 3135 or the cable 320) is wound on the winding shaft 3322, so that the driving force (the first driving force or the second driving force) provided by the multi-mode power device 310 is converted into the rotation of the winding shaft 3322 and the gear 3318. Through the engagement of the gear 3318 with the rack 3319 fixed on the base 3311, the rotation of the winding shaft 3322 and the gear 3318 is converted into the sliding of the slider 3321 on the base 3311, thereby driving the medical probe to perform linear translational motion.

[0105] The circuit board 3316 can be fixed on the base 3311 and electrically connected to the linear potentiometer 3317. For example, the circuit board 3316 can be welded to the pins of the linear potentiometer 3317. The cable 3312 can be electrically connected to the circuit board 3316. For example, the cable 3312 can be welded to the circuit board 3316. When the slider 3321 slides, the linear potentiometer 3317 can record the moving position of the slider 3321. For example, the slider of the linear potentiometer 3317 can slide synchronously with the slider 3321, thereby recording the moving position of the slider 3321. Through the linear potentiometer 3317, the data corresponding to the moving position of the slider 3321 can be transmitted to the circuit board 3316, and then transmitted to the outside via the cable 3312, so as to achieve precise control of the moving position.

[0106] In some embodiments, the cable 3312 may be a part of the transmission device 340. In some embodiments, the cable 3312 may be communicatively connected to the transmission device 340, so as to transmit data corresponding to the moving position of the slider 3321 to the outside via the transmission device 340.

[0107] Figure 8 is a schematic diagram of the structure of an exemplary rotational motion module 332 according to some embodiments of the present specification.

[0108] The rotational motion module 332 can be fixedly connected to the translational motion module 331. The rotational motion module 332 includes a rotating shaft 3331, a housing 3332, a rotating piece 3333, a circular potentiometer 3334 and a winding shaft 3335.

[0109] The housing 3332 includes an upper cover 3332-1, an upper shell 3332-2, and a lower shell 3332-3. A circular potentiometer 3334 is fixed to the upper shell 3332-2. For example, the circular potentiometer 3334 can be fixed to the upper end surface of the upper shell 3332-2 by bolt connection, welding, riveting, adhesive connection, etc. The medical probe can be fixedly connected to the rotating shaft 3331. For example, the medical probe can be directly fixedly connected to the rotating shaft 3331 by adhesive connection, etc. For another example, a fixing piece is provided on the rotating shaft 3331, and the medical probe can be fixedly connected to the rotating shaft 3331 by the fixing piece.

[0110] The winding shaft 3335 is supported by a bearing or a sleeve, and a lead (e.g., lead 3135 or cable 320) is wound around the winding shaft 3335 (e.g., the tail end of the winding shaft 3335), thereby converting the driving force (first driving force or second driving force) provided by the multi-mode power device 310 into the rotation of the winding shaft 3335. The rotation of the rotating shaft 3331 is driven by the bevel gear engaged with the winding shaft 3335. The rotating shaft 3331 is supported by a bearing or a sleeve. The rotating piece 3333 is fixedly connected to the rotating shaft 3331 and can rotate synchronously with the rotating shaft 3331.

[0111] The rotating piece 3331 contacts the circular potentiometer 3334. For example, the metal spring on the lower surface of the rotating piece 3331 contacts the circular potentiometer 3334. Therefore, the circular potentiometer 3334 can record the rotation angle of the rotating piece 3331 (ie, the rotating shaft 3331).

[0112] The circular potentiometer 3334 can be electrically connected to the circuit board 3316 of the translational motion module 331, so that the data corresponding to the rotation angle is transmitted to the outside via the circuit board 3316 and the cable 3312. In some embodiments, the circular potentiometer 3334 can be electrically connected to the cable 3312 or the transmission device 340, so that the data corresponding to the rotation angle is transmitted to the outside, so as to achieve precise control of the rotation angle.

[0113] The multi-mode rope driving force system including the rotary motion module 332 can be a disposable consumable, thereby ensuring that the medical probe is in a sterile environment during use, thereby improving the safety of the use of the medical probe.

[0114] Fig. 9A is a schematic diagram of the structure of an exemplary motion actuator 400 according to some embodiments of the present specification. Fig. 9B and 9C yes Fig. 9A A schematic diagram of the disassembly of the middle motion actuator 400.

[0115] The motion actuator 400 may be an embodiment of the motion actuator 330. Accordingly, the motion actuator 400 may be used to connect a medical probe (eg, a LITT probe, an OCT probe, an integrated probe), thereby controlling the medical probe to perform linear translation and rotation motions.

[0116] Unlike the motion actuator 330, the motion actuator 400 can be disassembled. That is, the motion actuator 330 is used as a whole, while the motion actuator 400 can be disassembled for use. In addition, the motion actuator 400 also includes a sterile transfer device. Figures 9A-9C The motion actuator 400 can be split into a main body 410 and a sterile transfer device 420. The main body 410 and the multi-mode power device 310 (and the cable 320) are reused as a whole. The sterile transfer device 420 is detachably connected to the main body 410. In some embodiments, the sterile transfer device 420 is a disposable consumable.

[0117] The main body 410 includes a rotation driving module 430 and a translation motion module 440. The rotation driving module 430 can be fixedly connected to the translation motion module 440. The translation motion module 440 is the same as or similar to the translation motion module 331, and will not be described in detail here.

[0118] The rotation driving module 430 can be fixedly connected to the translation motion module 440. Fig.10 The rotary motion module 430 includes a housing 431, a winding shaft 432, a circular potentiometer 433, a rotating piece 434 and a supporting bearing.

[0119] The circular potential 433 can be fixed on the housing 431. The rotating piece 434 is fixedly connected to the winding shaft 432 and can rotate synchronously with the winding shaft 432. The lead wire (for example, the lead wire 3135 or the cable 320) is wound on the winding shaft 432 (for example, the tail end of the winding shaft 432), thereby converting the driving force (the first driving force or the second driving force) provided by the multi-mode power device 310 into the rotation of the winding shaft 432.

[0120] The rotating piece 434 contacts the circular potentiometer 433. For example, the metal spring on the lower surface of the rotating piece 434 contacts the circular potentiometer 433. Therefore, the circular potentiometer 433 can record the rotation angle of the rotating piece 434 (ie, the winding shaft 432).

[0121] The circular potentiometer 434 can be electrically connected to the circuit board of the translational motion module 440, so that the data corresponding to the rotation angle is transmitted to the outside via the circuit board and the cable. In some embodiments, the circular potentiometer 434 can be electrically connected to the cable or the transmission device 340, so that the data corresponding to the rotation angle is transmitted to the outside, so as to achieve precise control of the rotation angle.

[0122] The sterile adapter 420 can be connected to a medical probe (e.g., a LITT probe, an OCT probe, an integrated probe) to control the medical probe to perform linear translation and rotational motion. For example, the sterile adapter 420 is disposed on a rotation drive module 430, and the rotation drive module 430 is fixedly connected to the translational motion module 440. Therefore, the driving force increased by the multi-mode power device 310 can be transmitted to the sterile adapter 420 through the rotation drive module 430 and the translational motion module 440, thereby driving the medical probe to move.

[0123] For example only, see Fig.11A and 11B The aseptic transfer device 420 includes a rotating shaft 421, a housing 422, a support member 423, a first fixing member 424, and a second fixing member 425. The rotating shaft 421 is installed in the housing 422 and supported by a bearing.

[0124] The sterile adapter 420 can be fixed to the main body 410 by the first fixing member 424 and the second fixing member 425. For example, the first fixing member 424 and the second fixing member 425 can be anti-slip hand screws, which can conveniently remove or install the sterile adapter 420 from the main body 410, which is conducive to the replacement of the sterile adapter 420 and improves the convenience of using the motion actuator 400.

[0125] By installing the sterile adapter 420 on the main body 410, the rotating shaft 421 can be connected to the rotating drive module 430. For example, the rotating shaft 421 is fixedly connected to the medical probe, and the bevel teeth of the rotating shaft 421 are engaged with the bevel teeth of the winding shaft 432. Therefore, the rotation of the winding shaft 432 can be transmitted to the rotating shaft 421, thereby driving the medical probe to rotate.

[0126] In some embodiments, the sterile device 350 is also fixed on the sterile transfer device 420. For example, the sterile device 350 is a sterile bag with a notch. Through the notch, the main body 410 (translation motion module 440 and rotation motion module 430) of the motion actuator 400, the cable 320 and the transmission device 340 can be placed in the sterile bag, thereby establishing a sterile barrier, so that the sterile transfer device 420 and the medical probe are in a sterile environment. In some embodiments, the sterile device 350 can be fixed to the sterile transfer device 420 by gluing. For example, the sterile bag is pasted on the back of the housing 422 and the support 423 of the sterile transfer device 420 using double-sided tape, and the front of the housing 422 and the support 423 is reinforced with single-sided tape.

[0127] By using the sterile device 350, a sterile barrier is established between the sterile adapter 420 and the medical probe and the main body 410 (translation motion module 440 and rotation motion module 430) of the motion actuator 400, the cable 320 and the transmission device 340, which can ensure that the medical probe is in a sterile state during use. In addition, as an independent, quickly replaceable unit, the sterile adapter 420 can be easily installed and removed from the motion actuator 400, thereby improving the convenience of using the motion actuator 400. The main body 410 (translation motion module 440 and rotation motion module 430) of the motion actuator 400, the cable 320, the transmission device 340 and other devices can be reused in multiple uses of the medical probe, reducing the cost of use.

[0128] The beneficial effects that may be brought about by the embodiments of this specification include but are not limited to: (1) Through the manual drive unit, the multi-mode power device can freely switch between the manual control mode and the automatic control mode, thereby improving the convenience and flexibility of the control mode switching, and thus improving the efficiency of the use of the medical probe; (2) By introducing a two-degree-of-freedom probe motion mechanism, the linear motion freedom and rotational motion freedom under the high-voltage electrical sensing accuracy are fully realized, and by driving the linear motion freedom (translation) cable and the rotational freedom (rotation) cable, the translation drive module and the rotation drive module of the actuator are respectively moved, so that the medical probe can be accurately positioned and the movement can be finely controlled, thereby improving the accuracy of the use of the medical probe; (3) By designing the motion actuator as a detachable structure, the sterile adapter in the motion actuator can be quickly replaced, which improves convenience and reduces costs while ensuring that the medical probe is in a sterile state during use, and has great clinical application value.

[0129] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only for example and does not constitute a limitation of this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements and corrections to this specification. Such modifications, improvements and corrections are suggested in this specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

[0130] At the same time, this specification uses specific words to describe the embodiments of this specification. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures or characteristics in one or more embodiments of this specification can be appropriately combined.

[0131] In addition, unless explicitly stated in the claims, the order of the processing elements and sequences described in this specification, the use of alphanumeric characters, or the use of other names are not intended to limit the order of the processes and methods of this specification. Although the above disclosure discusses some invention embodiments that are currently considered useful through various examples, it should be understood that such details are only for illustrative purposes, and the attached claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the essence and scope of the embodiments of this specification. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing server or mobile device.

[0132] Similarly, it should be noted that in order to simplify the description disclosed in this specification and thus help understand one or more embodiments of the invention, in the above description of the embodiments of this specification, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the subject matter of this specification are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0133] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of this specification are approximate values, in specific embodiments, the setting of such numerical values ​​is as accurate as possible within the feasible range.

[0134] Each patent, patent application, patent application publication, and other materials, such as articles, books, specifications, publications, documents, etc., cited in this specification are hereby incorporated by reference in their entirety. Except for application history documents that are inconsistent with or conflicting with the contents of this specification, documents that limit the broadest scope of the claims of this specification (currently or later attached to this specification) are also excluded. It should be noted that if the descriptions, definitions, and / or use of terms in the materials attached to this specification are inconsistent or conflicting with the contents described in this specification, the descriptions, definitions, and / or use of terms in this specification shall prevail.

[0135] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. A multi-mode rope driving force system, characterized in that: It includes a multi-mode power device, cables and motion actuators, among which The cables are respectively connected to the multi-mode power device and the motion actuator; The multi-mode power device is configured to provide driving force to the actuator mechanism; as well as The motion actuator is connected to the medical probe and is configured to control the medical probe to perform multi-degree-of-freedom motion based on the driving force.

2. The multi-mode rope driving force system according to claim 1, characterized in that: The multi-degree-of-freedom motion includes linear translation motion and rotation motion, the motion actuator includes a translation motion module and a rotation motion module, and the controlling the medical probe to perform multi-degree-of-freedom motion based on the driving force includes: Based on the driving force, controlling the translational motion module so that the medical probe performs the linear translational motion; and Based on the driving force, the rotational motion module is controlled to make the medical probe perform the rotational motion.

3. The multi-mode rope driving force system according to claim 2, characterized in that: The motion execution mechanism further comprises a sterile adapter, which is detachably connected to the rotary motion module, and the medical probe is fixedly connected to the sterile adapter.

4. The multi-mode rope driving force system according to claim 3, characterized in that: The multi-mode rope driving force system also includes a sterile device, which is fixedly connected to the sterile transfer device to form a sterile barrier. The sterile transfer device and the sterile device are disposable consumables.

5. The multi-mode rope driving force system according to claim 4, characterized in that: The sterile device includes at least one of a sterile bag and a sterile film.

6. The multi-mode rope driving force system according to claim 1, characterized in that: The driving force includes a first driving force and a second driving force, and the multi-mode power device includes: at least one manual drive unit, configured to provide the first drive force to the motion actuator; and At least one automatic drive unit is configured to provide the second drive force to the motion actuator; wherein the working mode of the control mechanism is switched through the manual drive unit.

7. The multi-mode rope driving force system according to claim 6, characterized in that: The working mode of the control mechanism includes an automatic control mode corresponding to the automatic drive unit and a manual control mode corresponding to the manual drive unit.

8. The multi-mode rope driving force system according to claim 7, characterized in that: The switching of the working mode of the control mechanism by the manual drive unit includes: The manual drive unit moves from the first position to the second position, so that the working mode of the control mechanism is switched from the automatic control mode to the manual control mode; or The manual driving unit moves from the second position to the first position, so that the working mode of the control mechanism is switched from the manual control mode to the automatic control mode.

9. The multi-mode rope driving force system according to claim 7, characterized in that: The multi-mode power device further includes an elastic member, and the switching of the working mode of the control mechanism through the manual drive unit includes: The manual drive unit moves from the first position to the second position, so that the working mode of the control mechanism is switched from the automatic control mode to the manual control mode; or The manual drive unit automatically rebounds from the second position to the first position, so that the working mode of the control mechanism is switched from the manual control mode to the automatic control mode.

10. The multi-mode rope driving force system according to claim 1, characterized in that: The multi-mode cable driving force system further includes a transmission device configured to output motion information of the multi-degree-of-freedom motion performed by the medical probe, wherein the motion information includes at least one of position information and angle information.

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