Breast particle implantation device based on flexible hand fine adjustment

Abstract

The invention belongs to the technical field of medical equipment, and particularly discloses a mammary gland particle implantation device based on flexible hand fine adjustment, which comprises a flexible hand adjustment assembly, a particle implantation assembly, a mammary gland clamping platform and a control system. The flexible hand adjusting assembly adjusts a flexible hand through a three-axis moving sliding table, and precise attaching, grabbing and fixing of breast masses are achieved. The particle implantation assembly adjusts a particle implantation mechanism by using a six-degree-of-freedom mechanical arm, and flexibly adjusts the actions of inner and outer needles according to the real-time position and shape of a tumor and the physical condition of a patient, so that the accuracy of particle implantation is remarkably improved; the mammary gland clamping platform provides a stable mounting position for the device and fixes the mammary gland; and the control system coordinates the actions of all the components so as to realize precise implantation. The device is simple in structure, low in cost and convenient to popularize and apply, the accuracy and stability of an operation can be effectively improved, and a more reliable treatment scheme is provided for a breast cancer patient.

Description

Technical Field

[0001] The invention relates to the technical field of medical equipment, and in particular to a breast particle implantation device based on flexible hand fine-tuning. Background Art

[0002] Breast seed implantation is a radiotherapy method used to treat breast cancer. Radioactive seeds are implanted into the breast tumor site to perform close-range radiation therapy on cancer cells. However, traditional breast seed implantation mainly relies on the cooperation of doctors and assistants to manually adjust the fixed breast position and implant radioactive seeds. There are two major problems: insufficient breast fixation stability and low seed implantation positioning accuracy.

[0003] On the one hand, the breast fixation stability is insufficient: Breast tissue has inherent flexibility and unevenness, which makes it difficult to achieve ideal stability when manually fixing the breast, which in turn hinders the precise positioning of the lesion. In addition, the breast fixators currently available on the market are fixed in shape, which may exert greater pressure on the breast and cause discomfort to the patient. The existing manipulators have a low degree of freedom and cannot adjust the position of the breast well, making it difficult to meet the needs of precise breast fixation during surgery. Therefore, the existing technology has the problem of insufficient breast fixation stability.

[0004] On the other hand, the positioning accuracy of particle implantation is low: in traditional surgery, doctors mainly rely on images to manually determine the particle implantation point. This process is prone to clinical errors, which greatly affects the surgical accuracy and treatment effect. Although there are some automated implantation devices on the market, most of these devices have complex structures and fixed operating procedures, making it difficult to quickly adjust the particle implantation position according to the actual situation during surgery. In addition, some advanced automated equipment is expensive and requires special maintenance personnel and venues. Its use and maintenance costs are high, which limits its promotion and application in more medical institutions.

[0005] Therefore, it is necessary to propose a breast seed implantation device based on flexible hand fine-tuning to solve the problems of low operation accuracy and low stability in traditional breast seed implantation surgery. Summary of the invention

[0006] The purpose of the present invention is to provide a breast particle implantation device based on flexible hand fine-tuning to solve the above-mentioned technical problems existing in the prior art.

[0007] To achieve the above object, the present invention provides the following solution: a breast particle implantation device based on flexible hand fine-tuning, comprising:

[0008] A flexible hand adjustment component includes a flexible hand and a three-axis movable slide, wherein the flexible hand is fixed on the three-axis movable slide and is used for adaptively fitting and fixing a breast mass;

[0009] The particle implantation assembly includes a six-degree-of-freedom robotic arm and a particle implantation mechanism. The six-degree-of-freedom robotic arm drives the particle implantation mechanism to perform particle implantation operations. The particle implantation mechanism includes an inner and outer needle drive system for alternately driving the inner needle and the outer needle to accurately deliver radioactive particles.

[0010] A breast clamping platform for fixing the patient's breast and providing an operating space.

[0011] A control system is connected to the flexible hand adjustment assembly and the particle implantation assembly, and is used to coordinate the actions of each component to achieve precise implantation.

[0012] Optionally, the flexible hand includes a palm mechanism and multiple flexible fingers. The palm mechanism realizes opening and closing movements through a four-bar mechanism and a lead screw nut. The palm mechanism is connected to the flexible fingers through hinges to drive the flexible fingers to extend and contract.

[0013] Optionally, the four-bar mechanism includes four robotic arms. Flexible fingers are respectively installed on the four robotic arms. A single link is used to hinge the lead screw nut and the four-bar mechanism. The lead screw nut is driven by a motor to rotate, driving the four robotic arms to achieve lifting movements and complete the extension and contraction actions of the hand.

[0014] Optionally, two independent air channels are provided inside the flexible fingers, and the bending degree of freedom is controlled by air pressure to conform to the surface of the breast.

[0015] Optionally, the inner and outer needle drive system includes:

[0016] The inner needle drive part, where a cylinder drives a piston to push the inner needle to move linearly.

[0017] The outer needle drive part, where a servo motor drives a gear to mesh with a rack to control the linear movement of the outer needle.

[0018] The inner needle and the outer needle act alternately to cooperate in completing particle release and pushing.

[0019] Optionally, the particle implantation mechanism further includes an infrared sensor and a depth camera, which are respectively used to monitor the needle insertion depth and the environmental image in real time, and communicate with the control system to adjust the needle insertion path.

[0020] Optionally, a particle magazine is provided at the front end of the particle implantation mechanism. The magazine is communicated with the needle cavity through the opening of the outer needle and is used to store and transport radioactive particles.

[0021] Optionally, the three-axis moving slide includes three linear axes: an X-axis rail, a Y-axis rail, and a Z-axis rail. Each axis drives a slide to move along the guide rail through a motor, and the moving range of the slide covers the operating area of the breast clamping platform.

[0022] Optionally, the breast clamping platform includes a support platform with a certain height. The support platform is provided with fixed holes for the breast to pass through, and the bottom of the support platform is suspended for installing a flexible hand adjustment component and a particle implantation component.

[0023] Optionally, the control system is integrated into the human-machine interaction terminal and includes a surgical planning module for planning the particle implantation path based on CT image data and real-time adjusting the positions of the flexible hand and the particle implantation mechanism.

[0024] Compared with the prior art, the present invention discloses at least the following beneficial effects:

[0025] The present invention provides a breast particle implantation device based on flexible hand fine-tuning. By introducing a high-degree-of-freedom two-airway pneumatic flexible hand device and an inner and outer needle alternating driving particle implantation mechanism driven by a cylinder and a servo motor, the problems of low operation accuracy and insufficient stability in traditional breast particle implantation surgery are effectively solved. The flexible hand device can adaptively fit the surface of the breast by fine-tuning according to the different shapes and sizes of the breast. Compared with traditional fixators and manipulators, it can achieve a more compact and precise breast fixation, providing a stable operation basis for the surgery. At the same time, the inner and outer needle alternating driving particle implantation mechanism can flexibly adjust the actions of the inner and outer needles according to the real-time position and shape of the tumor and the physical condition of the patient, significantly improving the accuracy of particle implantation. In addition, this mechanism has a simple structure and low cost, facilitating popularization and application in more medical institutions. Through the coordinated adjustment of the flexible hand and the three-axis moving platform, and the precise operation of the particle implantation mechanism, the device of the present invention can effectively overcome the problems of unstable breast fixation and inaccurate particle implantation in the prior art, significantly improving the accuracy and stability of the surgery, making the surgical environment safer, and providing a more reliable solution for the treatment of breast cancer patients. Description of the Drawings

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0027] Figure 1 It is the overall schematic diagram of the breast particle implantation device based on flexible hand fine-tuning of the present invention;

[0028] Figure 2 It is the structural schematic diagram of the flexible hand adjustment module in the device of the present invention;

[0029] Figure 3 It is the structural schematic diagram of the flexible hand in the device of the present invention;

[0030] Figure 4 It is a schematic structural diagram of the palm mechanism in the device of the present invention;

[0031] Figure 5 It is a schematic structural diagram of the flexible finger in the device of the present invention;

[0032] Figure 6 It is a schematic structural diagram of the three-axis moving slide in the device of the present invention;

[0033] Figure 7 It is a schematic structural diagram of the particle implantation module in the device of the present invention;

[0034] Figure 8 It is a schematic structural diagram of the particle implantation mechanism in the device of the present invention Figure 1 ;

[0035] Figure 9 It is a schematic structural diagram of the particle implantation mechanism in the device of the present invention Figure 1 ;

[0036] Figure 10 is Figure 8 a partial enlarged view of part A in;

[0037] Figure 11 It is a schematic structural diagram of the breast clamping platform in the device of the present invention.

[0038] In the figure: 1. Surgical operation end; 2. Human-machine interaction end; 3. Flexible hand; 4. Three-axis moving slide; 5. Palm mechanism; 6. Flexible finger; 7. Lead screw nut; 8. Four-bar mechanism; 9. Air passage; 10. Flexible material; 11. Slide; 12. Guide rail; 13. Motor; 14. Six-degree-of-freedom robotic arm; 15. Particle implantation mechanism; 16. Body; 17. Inner and outer needle drive system; 18. Infrared sensor; 19. Depth camera; 20. Inner needle; 21. Driver; 22. Cylinder; 23. Piston; 24. Outer needle; 25. Rack; 26. Gear; 27. Servo; 28. Opening; 29. Particle magazine. Specific embodiments

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0040] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Refer to Figures 1 to 11As shown in the figure, an embodiment of the present invention provides a breast particle implantation device based on flexible hand fine-tuning, which includes a flexible hand adjustment component, a particle implantation component, and a breast clamping platform. The flexible hand adjustment component, the particle implantation component, and the breast clamping platform together form a surgical operation end 1. In the breast particle implantation surgical environment, the surgical operation end 1 and the human-computer interaction end 2 cooperate with each other to complete the breast particle implantation surgery, specifically as Figure 1 shown. The human-computer interaction end 2 is equipped with a control system, and the actions of the flexible hand adjustment component and the particle implantation component are controlled through the control system, thereby realizing precise operation of breast particle implantation.

[0042] As Figure 2 shown, the flexible hand adjustment component includes a flexible hand 3, and the flexible hand 3 is fixed on a three-axis moving slide 4. The three-axis moving slide 4 adjusts the position of the flexible hand 3 to align the flexible hand 3 with the breast mass position, and the flexible hand 3 completes the fitting, grasping, and fixing actions on the breast mass.

[0043] As Figure 2 and Figure 6 shown, in this embodiment, the three-axis moving slide 4 includes three linear axes: an X-axis track, a Y-axis track, and a Z-axis track. Each axis is composed of a rigid frame, and the material of the rigid frame is generally aluminum alloy or steel to ensure the overall stability and load-bearing capacity. Each axis includes a slide 11, a guide rail 12, and a motor 13. The guide rail 12 adopts a linear track, and the slide 11 is slidably connected to the guide rail 12 and performs a linear reciprocating motion driven by the motor 13. In this embodiment, two X-axis tracks are horizontally and spaced apart to support at the bottom, the Y-axis track is installed on the X-axis track, and two Y-axis tracks generally adopt a gantry structure and straddle between the two X-axis tracks. The Z-axis track is installed on the Y-axis track, and the Z-axis track is perpendicular to the X-axis track and the Y-axis track. The flexible hand 3 is fixedly installed on the slide 11 of the Z-axis track. The three-axis moving slide 4 can adopt mature means of the existing technology and will not be elaborated here.

[0044] It should be understood that the three-axis moving slide 4, as an adjustment mechanism for adjusting the three-dimensional spatial position of the flexible hand 3, can be replaced by other adjustment mechanisms capable of realizing X, Y, and Z-axis movement, such as other three-axis operating mechanisms like a three-axis manipulator, etc., and will not be specifically limited here.

[0045] As Figures 3 to 5 shown, in this embodiment, the flexible hand 3 is composed of a palm mechanism 5 and flexible fingers 6. The palm mechanism 5 and the flexible fingers 6 are connected by a hinge, and this connection method ensures the flexible coordinated movement between the two. The main function of the palm mechanism 5 is to realize the stretching and contracting actions of the hand, while the flexible fingers 6 are focused on the fitting, grasping, and fixing actions on the breast mass. This clearly defined division of labor design enables the flexible hand 3 to efficiently complete tasks in a complex operation environment.

[0046] As Figure 4 shown, the palm mechanism 5 is one of the core components of the flexible hand 3. Its structure includes a four-bar mechanism 8 and a lead screw nut 7 located in the center of the four-bar mechanism 8. Among them, the four-bar mechanism 8 includes four robotic arms, and flexible fingers 6 are respectively installed on the four robotic arms. The lead screw nut 7 is hinged to the four-bar mechanism 8 by a single link. This connection method not only ensures the stability of the structure but also makes the motion transmission smoother.

[0047] When the motor 13 drives the lead screw to rotate, the nut will move linearly along the lead screw. This motion is transmitted to the four robotic arms through the single-link hinge, thereby driving the robotic arms to achieve lifting motion. By precisely controlling the rotation speed and direction of the motor 13, the opening and closing motion of the palm mechanism 5 can be realized, and then the stretching and contracting actions of the hand can be completed. This design enables the palm mechanism 5 to flexibly adjust its opening degree according to the actual operation requirements, providing the necessary space and support for the grasping action of the flexible fingers 6.

[0048] The flexible finger 6 is another key component of the flexible hand 3. Its structure is a two-airway multi-cavity design, specifically as Figure 5 shown. Each finger is internally provided with two independent air channels 9. This design endows the flexible finger 6 with four bending degrees of freedom. The symmetric fingers use the same air pressure source. By controlling the magnitude and direction of the air pressure, the free bending and precise control of the fingers can be realized.

[0049] Under normal circumstances, when pressure is applied to the two air channels 9, the flexible finger 6 can freely bend, and the finger tips converge at the end. This design enables the flexible finger 6 to flexibly adjust its posture when there are no obstacles. However, when grasping and fixing the breast, the bending process of the flexible finger 6 will be hindered by the breast surface. At this time, the continuously applied pressure will convert the force that hinders the finger from bending and deforming into the fitting grasping force on the breast surface, thereby realizing the fitting grasping and fixing of the breast.

[0050] In addition, the material selection of the flexible finger 6 is also crucial. The flexible material 10 used has excellent strength and toughness, high tensile strength, and can withstand a large amount of tensile force without being easily broken. The elastic modulus of this material is excellent, with good resilience and shape stability. Even in the process of repeated bending and stretching, it can maintain its original shape and performance. At the same time, this material also has good chemical resistance, can resist the erosion of various chemical substances such as acids, alkalis, oils, and solvents, shows strong weather resistance, and is not easy to age and become brittle. These characteristics enable the flexible finger 6 to better adapt to the soft and fragile environmental characteristics of the breast and achieve perfect fitting grasping of the breast.

[0051] In a specific embodiment, the flexible material 10 can be selected from thermoplastic polyurethane elastomer rubbers, such as TPU85A, TPU95A, TPU64D, and other polyether-based TPUs, which are not specifically limited herein.

[0052] Through the coordinated action of the palm mechanism 5 and the flexible fingers 6, the flexible hand 3 with the above structure realizes the precise fitting, grasping, and fixing of breast masses. The palm mechanism 5 completes the stretching and contracting actions of the hand through the cooperation of the lead screw nut 7 and the four-bar mechanism 8; the flexible fingers 6 achieve the fitting and grasping of the breast by virtue of their two-air-channel multi-chamber structure and high-performance flexible material 10. This design not only improves the flexibility and accuracy of the operation but also ensures the reliability and durability in complex environments.

[0053] As Figure 7 shown, the particle implantation assembly includes a six-degree-of-freedom robotic arm 14 and a particle implantation mechanism 15. The six-degree-of-freedom robotic arm 14 serves as an auxiliary mechanism to cooperate in adjusting the particle implantation mechanism 15 to align with the breast mass, and the particle implantation mechanism 15 performs the particle implantation operation. The six-degree-of-freedom robotic arm 14, as an auxiliary adjustment mechanism, can adopt conventional means of the existing technology.

[0054] In a specific embodiment, the six-degree-of-freedom robotic arm 14 includes multiple joints and linkages. Each joint provides one degree of freedom, and the spatial position and posture of the end effector (in this embodiment, specifically referring to the particle implantation mechanism 15) are achieved by controlling the movement of each joint. Each joint is driven by a motor 13 and achieves precise control through a reduction gear 26 group or a harmonic reducer.

[0055] It should be understood that the six-degree-of-freedom robotic arm 14, as an adjustment mechanism for adjusting the six degrees of freedom of the particle implantation assembly in space, can be replaced by other adjustment mechanisms such as multi-joint robots, bionic robotic arms, and parallel robots, which are not specifically limited herein.

[0056] The particle implantation mechanism 15 is used to precisely implant radioactive particles into human tissues, such as breast tumors and other parts. As Figures 8 to 10 shown, in this embodiment, the particle implantation mechanism 15 includes a fuselage 16, an inner and outer needle drive system 17, an infrared sensor 18, and a depth camera 19.

[0057] The fuselage 16 is the overall support structure of the particle implantation mechanism 15, adopting a cylindrical rod-bar integrated design, which significantly improves the radial rigidity and operation stability. A particle magazine 29 is provided at its front end for storing radioactive particles. The infrared sensor 18 and the depth camera 19 are installed at the end of the fuselage 16, slightly higher than the fuselage 16, to monitor the needle insertion environment in real time and feedback depth data.

[0058] The inner and outer needle driving system 17 is one of the core components of the particle implantation mechanism 15 and is responsible for controlling the needle insertion operation of the inner and outer needles 24. The inner and outer needle driving system 17 includes an inner needle driving part and an outer needle driving part.

[0059] The inner needle driving part includes an inner needle 20, a driver 21, a piston 23, and a cylinder 22. The inner needle 20 is locked and connected to the driver 21 inside the fuselage 16. The driver 21 drives the piston 23 to move through the cylinder 22. The cylinder 22 is fixed inside the cylindrical fuselage 16. The linear motion of the piston 23 is transmitted to the inner needle 20 through the driver 21 to push it to perform the needle insertion operation.

[0060] The outer needle driving part includes an outer needle 24, a rack 25, a gear 26, and a servo 27. An opening 28 is provided at the front end of the outer needle 24 for receiving radioactive particles in the particle magazine 29. The outer needle 24 meshes with the gear 26 through the rack 25, and the gear 26 is driven by the servo 27. The servo 27 is fixed to both sides of the fuselage 16 by bolts. The gear 26 is connected to the servo 27 above through a shaft and meshes with the rack 25. When the servo 27 rotates the gear 26, the rack 25 drives the outer needle 24 to move linearly to complete the needle insertion.

[0061] The inner needle 20 and the outer needle 24 are alternately driven to complete particle delivery. When the cylinder 22 of the cylinder 22 pushes the inner needle 20 forward, the outer needle 24 is driven by the servo 27 to insert the needle synchronously; when the inner needle 20 is retracted, the outer needle 24 remains fixed to release the particles. The particles enter the needle cavity through the opening 28 of the outer needle 24, and the inner needle 20 is pushed forward a second time to accurately push the particles to the target position.

[0062] In the above embodiment, the infrared sensor 18 and the depth camera 19 are fixed at the end of the particle implantation mechanism 15, slightly higher than the position of the fuselage 16. The infrared sensor 18 real-time detects the needle insertion depth to ensure that the coordinated actions of the inner needle 20 and the outer needle 24 meet the preset parameters; the depth camera 19 captures the three-dimensional image of the needle insertion environment and optimizes the path planning in combination with the infrared data to avoid damaging the surrounding tissues. The two are used in combination to be able to monitor the needle insertion environment in real time and determine the needle insertion depth. This design makes the particle implantation operation more accurate and can effectively avoid implantation deviation caused by visual errors or environmental interference.

[0063] In a specific embodiment, the particle implantation mechanism 15 further includes a particle magazine 29 for storing radioactive particles, and the particles are accurately delivered to the target position through the coordinated movement of the inner and outer needles 24. In some designs, position detection elements such as travel switches, position encoders, or displacement sensors are also provided inside or near the particle delivery channel to monitor the particle delivery status in real time.

[0064] The power source of the particle implantation mechanism 15 is the cylinder 22. The cylinder 22 drives the piston 23 to transmit power to the driver 21, thereby realizing the precise movement of the inner and outer needles 24. In addition, a flexible particle push rod is used to push radioactive particles, and its material is usually nitinol, spring steel or composite material, which has good elasticity and flexibility.

[0065] The particle implantation mechanism 15 with the above structure provides structural support through the fuselage 16, the inner and outer needle drive system 17 realizes precise needle insertion operation, and the infrared sensor 18 and the depth camera 19 provide real-time monitoring to ensure that radioactive particles can be accurately implanted into the target position. This design not only improves the accuracy and safety of the surgery, but also reduces the radiation exposure of doctors during the operation.

[0066] As Figure 11 shown, the breast clamping platform includes a support platform with a certain height. The support platform is provided with fixed holes for the breast to pass through. The bottom of the support platform is suspended for installing a flexible hand adjustment component and a particle implantation component. During use, the patient lies prone on the platform surface to fix the breast in the vertical direction for clamping.

[0067] The control system is integrated into the human-computer interaction terminal 2 and includes a surgical planning module for planning the particle implantation path based on CT image data and adjusting the positions of the flexible hand 3 and the particle implantation mechanism 15 in real time.

[0068] In the embodiment of the present invention, a breast particle implantation device based on flexible hand fine-tuning is innovatively proposed in the field of breast particle implantation technology, which has significant advantages compared with the prior art. The core advantage of this device lies in the collaborative design of the flexible hand 3 and the three-dimensional moving platform, enabling the flexible hand 3 to move freely and flexibly in three-dimensional space, breaking through the limitations of traditional technologies. At the same time, the flexible finger 6 adopts a unique two-airway 9 structure design, endowing it with multi-degree-of-freedom movement ability. Compared with the common single-airway 9 structure on the market, it can adjust the position of the breast mass more accurately and fittingly.

[0069] In terms of the particle implantation mechanism 15, this device adopts an innovative mode of alternately driving the inner and outer needles 24 to insert needles by the servo motor 27 and the cylinder 22, with a simple structure and controllable cost. Compared with the existing automated breast particle implantation equipment, this design is more easily promoted and applied widely in the medical industry, promising to bring benefits to more patients and promote the popularization and development of breast treatment technologies.

[0070] The embodiment of the present invention also provides a breast particle implantation method, using the breast particle implantation device based on flexible hand fine-tuning described in the above embodiment. This method includes the following steps:

[0071] Step S1, preoperative operation

[0072] Step S11. Determine the lesion location

[0073] The doctor uses a high-precision CT device to scan the breast to obtain clear tomographic images; through professional image analysis software, accurately determine the three-dimensional coordinate position of the tumor lesion point in the breast, and mark it as (Xo, Yo, Zo).

[0074] Step S12. Adjust the position of the flexible hand 3

[0075] Turn on the breast particle implantation device based on the fine adjustment of the flexible hand and start the control system; input the coordinates of the lesion point on the operation interface, and the system drives the three-axis moving stage 4 to work; the X-axis motor 13 drives the lead screw to rotate, so that the slide 11 moves along the X-axis guide rail 12, and the Y-axis and Z-axis motors 13 operate synchronously to initially adjust the flexible hand 3 to the area near the mass.

[0076] Step S13. Fix the breast mass

[0077] When the flexible hand 3 approaches the breast, control the motor 13 of the palm mechanism 5 to rotate, drive the lead screw nut 7 to drive the four-bar mechanism 8 to contract the palm mechanism 5; then start the air pump to inflate the two air passages 9 of the flexible finger 6; since the flexible finger 6 is made of flexible material 10, it realizes multi-degree-of-freedom bending under the action of air pressure, closely fits the surface of the mass, and stably grabs and fixes the breast mass.

[0078] Step S14. Plan the puncture path

[0079] Combined with the CT image and clinical experience, the doctor sets the target target point for particle implantation in the surgical planning software; the software uses an optimization algorithm to comprehensively consider factors such as breast tissue characteristics and blood vessel distribution, plans the optimal puncture path for particle implantation, and transmits the path data to the device control system.

[0080] Step S2. Intraoperative operation

[0081] Step S21. Monitor the needle insertion environment and adjust the needle insertion

[0082] The operation starts, and the depth camera 19 collects the needle insertion environment image in real time and transmits it to the control system; the control system drives the six-degree-of-freedom robotic arm 14 to drive the particle implantation mechanism 15 to move according to the planned path; when the depth camera 19 monitors that the distance between the inner and outer needles 24 and the skin surface is about 5 mm, the control system sends signals to the servo 27 and the cylinder 22 at the same time.

[0083] Step S22. Particle implantation

[0084] The servo 27 drives the gear 26 to rotate, driving the outer needle 24 to insert the needle; the cylinder 22 drives the piston 23 to push the inner needle 20 to insert the needle synchronously.

[0085] During the needle insertion process, the infrared sensor 18 continuously detects the needle insertion depth and analyzes the radiation data. When the preset depth is reached, the control system drives the inner needle 20 to retract, and the particle magazine 29 precisely places the radioactive particles inside the outer needle 24.

[0086] Subsequently, the inner needle 20 is driven forward again to push the radioactive particles to the target site.

[0087] Step S23: Withdraw the inner and outer needles 24

[0088] After the particle implantation is completed, the control system drives the inner and outer needles 24 to withdraw from the breast tissue synchronously. During the withdrawal process, the depth camera 19 continuously monitors to ensure that the surrounding tissues are not damaged.

[0089] Step S3: Post-operative operations

[0090] Step S31: Release the flexible hand 3 and withdraw

[0091] After the particle implantation surgery is completed, close the air pump air valve, and the flexible finger 6 relaxes the grasping of the breast. Control the motor 13 of the palm mechanism 5 to reverse, drive the lead screw to expand the palm mechanism 5. Operate the robotic arm control button to adjust the robotic arm to drive the flexible hand 3 to withdraw from the breast area.

[0092] Step S32: Clean and disinfect

[0093] Use a dedicated medical device cleaner to carefully clean components such as the flexible hand 3, the particle implantation mechanism 15, and the three-axis moving slide 4 according to the specified process to remove contaminants such as blood stains and tissue fluid. Place the cleaned device in a high-temperature and high-pressure disinfection equipment and disinfect it for 4 minutes under the conditions of 134°C and 220 kPa. After disinfection, store it properly for the next use.

[0094] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0095] The above-described embodiments are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A breast seed implantation device based on flexible hand fine-tuning, characterized in that: include: A flexible hand adjustment component comprises a flexible hand (3) and a three-axis movable slide (4), wherein the flexible hand (3) is fixed on the three-axis movable slide (4) and is used for adaptively fitting and fixing a breast mass; A particle implantation assembly comprises a six-degree-of-freedom mechanical arm (14) and a particle implantation mechanism (15), wherein the six-degree-of-freedom mechanical arm (14) drives the particle implantation mechanism (15) to perform a particle implantation operation, and the particle implantation mechanism (15) comprises an inner and outer needle driving system (17) for alternately driving an inner needle (20) and an outer needle (24) to accurately deliver radioactive particles; Breast clamping platform, used to fix the patient's breast and provide operating space; The control system is connected to the flexible hand adjustment component and the particle implantation component and is used to coordinate the actions of each component to achieve precise implantation.

2. The breast seed implantation device based on flexible hand fine-tuning according to claim 1 is characterized in that: The flexible hand (3) comprises a palm mechanism (5) and a plurality of flexible fingers (6); the palm mechanism (5) realizes opening and closing movement through a four-bar mechanism (8) and a lead screw nut (7); the palm mechanism (5) is connected to the flexible fingers (6) through a hinge, driving the flexible fingers (6) to extend and contract.

3. The breast seed implantation device based on flexible hand fine-tuning according to claim 2 is characterized in that: The four-bar mechanism (8) comprises four mechanical arms, on which flexible fingers (6) are respectively installed, and a single connecting rod is used to hinge the lead screw nut (7) and the four-bar mechanism (8). The lead screw nut (7) is driven to rotate by a motor (13), thereby driving the four mechanical arms to achieve lifting and lowering movements, thereby completing the extension and contraction movements of the hand.

4. The breast seed implantation device based on flexible hand fine-tuning according to claim 2 is characterized in that: Two independent airways (9) are arranged inside the flexible finger (6), and the bending freedom is controlled by air pressure so as to fit the surface of the breast.

5. The breast seed implantation device based on flexible hand fine-tuning according to claim 1 is characterized in that: The inner and outer needle driving system (17) comprises: The inner needle driving part is driven by the cylinder (22) to drive the piston (23) to push the inner needle (20) to move linearly; The outer needle driving part is driven by a steering gear (27) to mesh the gear (26) with the rack (25) to control the linear motion of the outer needle (24); The inner needle (20) and the outer needle (24) act alternately to collaboratively complete particle release and pushing.

6. The breast seed implantation device based on flexible hand fine-tuning according to claim 5 is characterized in that: The particle implantation mechanism (15) further comprises an infrared sensor (18) and a depth camera (19), which are respectively used to monitor the needle insertion depth and the environmental image in real time, and communicate with the control system to adjust the needle insertion path.

7. The breast seed implantation device based on flexible hand fine-tuning according to claim 5 is characterized in that: A particle magazine (29) is provided at the front end of the particle implantation mechanism (15), and the magazine is connected to the needle cavity through the opening (28) of the outer needle (24) and is used for storing and transporting radioactive particles.

8. The breast seed implantation device based on flexible hand fine-tuning according to claim 1 is characterized in that: The three-axis movable slide (4) comprises three linear axes, namely an X-axis track, a Y-axis track and a Z-axis track. Each axis drives the slide (11) to move along a guide rail (12) via a motor (13). The moving range of the slide (11) covers the operating area of ​​the breast clamping platform.

9. The breast seed implantation device based on flexible hand fine-tuning according to claim 1 is characterized in that: The mammary gland clamping platform comprises a support platform with a certain height, a fixed hole for accommodating the mammary gland to pass through is opened on the support platform, and the bottom of the support platform is suspended in the air for installing a flexible hand adjustment component and a particle implantation component.

10. The breast seed implantation device based on flexible hand fine-tuning according to claim 1, characterized in that: The control system is integrated into the human-machine interaction terminal (2), and includes a surgery planning module for planning a particle implantation path based on CT image data, and adjusting the positions of the flexible hand (3) and the particle implantation mechanism (15) in real time.

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