Manipulator multifunctional treatment platform used in magnetic resonance

Abstract

The invention belongs to the technical field of medical apparatus and instruments, and particularly relates to a manipulator multifunctional treatment platform used in magnetic resonance, comprising: a platform main body, the platform main body comprising a fixed frame and a movable base slidably arranged on the fixed frame; the first driving mechanism drives the treatment tool to reciprocate in the Y-axis direction; the second driving mechanism drives the treatment tool to rotate around the Z axis; and the third driving mechanism drives the treatment tool to swing around the X-axis direction. The multifunctional manipulator platform is used for carrying various treatment tools for treatment under imaging navigation of magnetic resonance, and the treatment tools can be flexibly driven to accurately position and move in a treatment area.

Description

Technical Field

[0001] The invention belongs to the technical field of medical devices, and in particular relates to a manipulator multifunctional treatment platform used in magnetic resonance imaging. Background Art

[0002] Various treatment methods guided by magnetic resonance imaging have shown great potential in clinical practice, especially in the fields of radiotherapy, focused ultrasound therapy, interventional therapy, and ablation therapy. Through the precise navigation and real-time monitoring of magnetic resonance imaging, the accuracy and safety of treatment have been improved, making it a treatment method with broad prospects.

[0003] Its outstanding performance in improving treatment effects, shortening patient recovery periods and reducing treatment complications also provides solid support for the in-depth promotion of this technology in the medical industry.

[0004] In MRI-guided treatment, there is an urgent need for a manipulator with a simple structure, convenient operation, high precision and low failure rate. This manipulator needs to be able to carry a variety of treatment technology tools and means, and maintain good compatibility in an environment with strong magnetic field interference. By cleverly combining the manipulator with treatment tools or equipment and using the precise navigation of MRI, a new method that can be accurately operated and safely treated in a MRI environment can be created. This technology will show broad application potential in clinical applications.

[0005] However, under existing technical conditions, treatment equipment is subject to the limitations of the treatment area space and the influence of mechanical structure on positioning accuracy, making it difficult to achieve the expected treatment effect. Therefore, it is particularly important to design and develop a manipulator that is compatible with magnetic resonance imaging systems and has high positioning accuracy. This manipulator can carry treatment tools for long distances, greatly expanding the treatment range while ensuring positioning accuracy. Summary of the invention

[0006] The purpose of the present invention is to solve the above problems and provide a manipulator multifunctional treatment platform for magnetic resonance imaging.

[0007] The purpose of the present invention is achieved through the following technical solutions:

[0008] A multifunctional treatment platform for manipulators in magnetic resonance imaging, comprising:

[0009] A platform body, the platform body comprising a fixed frame and a movable base slidably arranged on the fixed frame;

[0010] The first driving mechanism comprises a motor group 1 arranged on the fixed frame and a connecting component 1 driven by the motor group 1 to drive the movable base to reciprocate along the Y-axis direction;

[0011] The second driving mechanism includes a second motor set disposed on the moving base and a second connecting component disposed at the output end of the second motor set. A treatment tool is provided at the front end of the second connecting component, and the second driving component drives the treatment tool to rotate around the Z axis.

[0012] The third driving mechanism includes a third motor set disposed on the moving base and a third connecting component connected to the output end of the third motor set. The third driving mechanism drives the second driving mechanism and the treatment tool to rotate around the X axis.

[0013] Preferably, the third connecting component includes a rotating bracket disposed on the moving base, a rotating rod rotatably disposed on the rotating bracket, a sector gear disposed on the rotating rod, and a spur gear disposed at the output end of the third motor set. The sector gear is meshed and connected with the spur gear, and the rotating rod is fixed to the second driving mechanism.

[0014] Preferably, the third connecting component further includes a rotating sub-rod. The rotating sub-rod is disposed on the moving base through another rotating bracket, and the rotating sub-rod and the rotating rod are respectively located on both sides of the second driving mechanism.

[0015] Preferably, the second connecting component includes a worm disposed at the output end of the second motor set and a turbine installed through a turbine shaft and engaged with the worm. The treatment tool is installed on the turbine shaft.

[0016] Preferably, the moving base has a hollowed-out area, and the vertical projection of the second motor set is located within the hollowed-out area.

[0017] Preferably, the first connecting component includes a first lead screw disposed at the output end of the first motor set and a lead screw nut installed on the moving base. The first lead screw passes through the lead screw nut.

[0018] Preferably, the moving base includes a pressing plate and a dragging plate. A sliding groove is formed between the pressing plate and the dragging plate, and it is slidably connected to the slide rail on the fixed frame.

[0019] Preferably, the mechanical hand multi-functional treatment platform is made of non-magnetic materials such as acrylic plates, carbon fiber plates, and polyoxymethylene to manufacture the robotic arm, and copper-aluminum alloy is used as the parts of the driving device to reduce the influence of the magnetic field on it and meet the requirement of normal operation in the magnetic resonance environment.

[0020] By implementing the above technical solutions, the present invention has the following technical solutions:

[0021] The multi-functional treatment platform of the manipulator of the present invention has a motor group, a lead screw and nut pair, a gear pair and a worm and worm gear pair as core components, and has three degrees of freedom of movement, specifically including linear movement along the Y-axis and rotation functions around the X-axis and Z-axis, so as to be able to flexibly drive the treatment tool to perform precise positioning and movement within the treatment area. At the same time, in the design of the manipulator, the efficient use of space is fully considered, with high integration and suitability for assembly and use in small spaces, ensuring that it has sufficient movement space inside the magnetic resonance equipment. It is made of non-magnetic or weakly magnetic materials to reduce interference during the magnetic resonance imaging process. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings, as part of the present invention, are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation of the present invention. Obviously, the drawings in the following description are only some embodiments, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0023] Figure 1 It is a schematic three-dimensional structure diagram of the multi-functional treatment platform of the manipulator shown in an embodiment of the present invention;

[0024] Figure 2 It is a top view of the multi-functional treatment platform of the manipulator shown in an embodiment of the present invention;

[0025] Figure 3 It is a specific structure diagram of the platform main body and the first driving mechanism in the multi-functional treatment platform of the manipulator shown in an embodiment of the present invention;

[0026] Figure 4 It is a specific structure diagram of the second driving mechanism in the multi-functional treatment platform of the manipulator shown in an embodiment of the present invention;

[0027] Figure 5 It is a partial cross-sectional view of the second driving mechanism in the multi-functional treatment platform of the manipulator shown in an embodiment of the present invention;

[0028] Figure 6 It is a specific structure diagram of the third driving mechanism in the multi-functional treatment platform of the manipulator shown in an embodiment of the present invention;

[0029] Figure 7 It is a schematic diagram of the cooperation between the spur gear and the sector gear in the third driving mechanism of the multi-functional treatment platform of the manipulator shown in an embodiment of the present invention;

[0030] Figure 8 It is a front view of the surgical forceps module used in MR in an embodiment of the present invention;

[0031] Figure 9Schematic side view of the surgical forceps module for use in MR in an embodiment of the present invention Figure 1 ;

[0032] Figure 10 Schematic side view of the surgical forceps module for use in MR in an embodiment of the present invention Figure 2 ;

[0033] Figure 11 Schematic diagram of the driving part of the surgical forceps module in an embodiment of the present invention;

[0034] Figure 12 Schematic diagram of the forceps head part of the surgical forceps module in an embodiment of the present invention;

[0035] Figure 13 Front view schematic of the syringe module for use in MR in an embodiment of the present invention;

[0036] Figure 14 Schematic side view of the syringe module for use in MR in an embodiment of the present invention;

[0037] Figure 15 Schematic side view of the syringe module for use in MR in an embodiment of the present invention. Detailed implementation manners

[0038] In order to make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments with reference to the accompanying drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0039] The robotic multifunctional treatment platform provided in this embodiment is used in magnetic resonance and performs treatment under the guidance of magnetic resonance. Refer to Figure 1 and Figure 2 , this robotic multifunctional treatment platform includes a first driving mechanism 100, a second driving mechanism 300 and a third driving mechanism 200, as well as a platform main body 500 for arranging these driving mechanisms. The three driving mechanisms jointly control the treatment tool in different directions to achieve precise positioning and cover the treatment range of the target area 400. It is driven by the first driving mechanism to move along the Y-axis direction, driven by the second driving mechanism to rotate along the Z-axis, and driven by the third driving mechanism to rotate along the X-axis. The treatment tool in this embodiment is an ultrasonic probe module 600.

[0040] Refer to Figure 3, the platform main body 500 includes a fixed frame 501 and a moving base 502. The moving base 502 can move along the fixed frame 501 under the action of an external force. The specific structure is as follows: The fixed frame 501 is a U-shaped frame with an opening at one end, and slide rails are provided on the inner sides of the opposite side walls. The moving base 502 includes a pressing plate 5021 and a drag plate 5022 located above the pressing plate 5021. A chute is formed between the pressing plate 5021 and the drag plate 5022, which is slidably connected to the slide rails on the fixed frame 501. In this way, under the drive of the first driving mechanism 100, the moving base 502 can move along the direction of the slide rails of the fixed frame 501. In this embodiment, this direction is defined as the Y-axis. Among them, there are two pressing plates 5021, which are respectively located on both sides of the drag plate 5022. There is a hollow area 5023 on the drag plate. There is no pressing plate blocking below the hollow area 5023, and there is a distance h between the lower surface of the drag plate 5022 and the lower surface of the fixed frame. The existence of the hollow area 5023 and the distance h makes the movement of the second driving mechanism 300 completely unrestricted.

[0041] The chute of the moving base 502 is in direct contact and sliding with the slide rails of the fixed frame 501. On the one hand, there may be a problem of poor stability during movement. On the other hand, it is easy to wear, affecting the flatness of the entire treatment platform. To ensure the stability of the movement of the moving base 502, slots are opened on both the upper and lower sides in the length direction of the slide rails, and balls are embedded in the slots. The balls are used to contact the surface of the chute to improve the smoothness of the sliding.

[0042] Continue to refer to Figure 3 , the first driving mechanism 100 includes a first motor group 101 provided on the fixed frame 501 and a first connecting component driven by the first motor group 101 to drive the moving base to reciprocate along the Y-axis direction; the first motor group 101 is composed of an ultrasonic motor with an encoder and a speed reducer, and is installed on the side of the fixed frame 501 away from its opening. The output shaft of the first motor group 101 is connected to the first lead screw 104 through a coupling 103; the first lead screw 104 forms a screw pair connection with a lead screw nut 105 installed on the drag plate 5022. The first motor group 101 drives the first lead screw to drive the drag plate moving base 502 to perform a linear motion in the Y-axis direction.

[0043] Refer to Figure 4 and Figure 5, the second driving mechanism 300 includes a second motor set 301 disposed on the moving base 502 and a second connecting component disposed at the output end of the second motor set 301. A treatment tool is provided at the front end of the second connecting component. The second connecting component includes a worm 302 disposed at the output end of the second motor set 301 and a worm wheel 304 installed through a turbine shaft 303 and engaged with the worm 302. The turbine shaft 303 is installed on the second motor set 301 through a bearing. The treatment tool is installed at the lower part of the turbine shaft 303. The second driving component 300 drives the treatment tool to rotate around the turbine shaft 303. When the moving direction of the first driving mechanism is defined as the Y-axis, this direction is the Z-axis, that is, the second driving mechanism 300 drives the treatment tool to rotate along the Z-axis.

[0044] Two rotating brackets 306 are fixed on the moving base 502 by screws. The two rotating brackets 306 are respectively located on both sides of the hollow area 5023. The rotating brackets 306 are L-shaped. A rotating rod is rotatably connected to the vertical part. The one closer to the third driving mechanism 200 is the rotating rod 304, and the one farther from the third driving mechanism 200 is the rotating sub-rod 305. One end of the rotating sub-rod 305 is rotatably connected to the rotating bracket 306, and the other end is fixed to the second motor set 301 of the second driving mechanism 300.

[0045] The second motor set 301 is installed through the two rotating brackets 306, so that the second motor set 301 is exactly located above the hollow area 5023, and the area of the hollow area is preferably larger than the projected area of the second motor set 301.

[0046] See Figure 6 , the third driving mechanism 200 includes a third motor set 201 disposed on the moving base and a spur gear 202 connected to the output end of the third motor set 201. A sector gear 3041 is installed on the rotating rod 304. The sector gear 3041 can be set to be an integral structure with the rotating rod 304 or a split structure, and is locked and fixed by screws. In this embodiment, an integral structure is adopted. One end of the rotating rod 304 is rotatably connected to the rotating bracket 306, and the other end is fixed to the second motor set 301 of the second driving mechanism 300. The rotation axes of the rotating rod 304 and the rotating sub-rod 305 are parallel to the output shaft of the motor of the third motor set 201. With the structure of the spur gear 202 and the sector gear 3041, the third driving mechanism 200 drives the second driving mechanism 300 and the treatment tool to swing around the rotation axes of the rotating rod 304 and the rotating sub-rod 305, that is, to swing around the X-axis direction.

[0047] The rotating rod 304 is driven by the motor set three 201 to drive the sector gear 3041 to rotate. In this driving method, since only one side of the rotating rod 304 is driven by the third driving mechanism 200, and the other side of the rotating sub-rod 305 is driven passively, the asymmetry of the driving will cause the rotation of the second driving mechanism 300 to be unstable. The usual method is to set the third driving mechanism 200 on both sides. However, this not only increases the overall volume, but also requires the third driving mechanisms 200 on both sides to drive completely consistently, with higher requirements for precision control. Therefore, in another specific embodiment, by setting a coordination rod to solve this problem, one end of the coordination rod is fixed to the rotating rod 304, the other end is fixed to the rotating sub-rod 305, and the coordination rod crosses over the upper part of the connecting component two and is fastened to the housing of the connecting component two. In this way, not only does it not need to additionally increase the excessive volume, but also it does not need to synchronize the third driving mechanisms 200 on both sides. The structure is simple, and it also has a positive effect on the stability of the rotation of the second driving mechanism 300.

[0048] In another specific embodiment, the treatment tool is a surgical forceps module 700, which is installed on the worm gear shaft 303 of the connecting component two to complete foreign object clamping and drug delivery. See Figures 8 - 12 . The surgical forceps module 700 includes a Z-axis rotating bracket one 701, a connecting rod driving mechanism 702, a surgical forceps 703, and an infusion component 704. The fixed seat 7021 is installed on the Z-axis rotating bracket one 701 by screws. The middle through hole of the fixed block is fitted with the shaft hole of the forceps body 7031 and fixed by the upper screws. The ultrasonic motor set four 7025 is installed on one side of the fixed block, and its output shaft is connected to the rocker 7022. The rocker 7022, the long horizontal axis 7024 of the connecting rod 7023 form a connecting rod mechanism, and the long horizontal axis 7024 is connected to the pull rod 7033 by shaft hole fitting. The surgical forceps 703 is driven by the connecting rod driving mechanism 702 to drive the long horizontal axis 7024 to pull the pull rod 7033 to perform an axial movement. The pull rod 7033 pulls the short horizontal axis 7035 to open the forceps head 7032 to complete the clamping and realize the foreign object clamping action. The forceps head 7032 also has the function of a barbed needle.

[0049] The infusion component 704 includes an infusion tube 7041, an infusion connector 7042, and a limit buckle 7043. The infusion connector 7042 is connected to the infusion machine between the magnets, and the drug is sent to the inner cavity of the surgical forceps through the infusion tube 7041. The forceps head is opened by the connecting rod driving mechanism 702, and the drug is transported into the target tissue to complete drug delivery.

[0050] The surgical forceps module 700 is connected to the worm gear shaft 303 of the multi-functional manipulator platform through the mounting holes of the Z-axis rotating bracket one 701 to realize three-degree-of-freedom spatial movement.

[0051] In another specific embodiment, the treatment tool is a syringe module 800, which is installed on the worm gear shaft 303 of the connecting component two to complete drug injection. SeeFigures 13 - 15 The syringe module 800 includes a Z-rotation bracket II 801, a lead screw drive mechanism 802, and a syringe 803. The lead screw drive mechanism 802 includes an ultrasonic motor set V 8021, a base 8022, a support 8023, a second lead screw 8024, a guide shaft 8025, a slider 8026, a bearing 8027, and a buckle 8028. The ultrasonic motor set V 8021 is installed on the support 8023, and the support 8023 is installed on the base 8022 by screws. Two guide shafts 8025 are parallel to the second lead screw 8024 and are connected to both ends of the support, with a slider 8062 connected in the middle. Driven by the ultrasonic motor set V 8021, the lead screw drive mechanism 802 is formed. The body of the syringe 803 is fixed on the support 8023, and the piston rod of the syringe is fixed on the slider 8062. Driven by the ultrasonic motor set V 8021, the quantitative injection action is completed.

[0052] The syringe module 800 is connected to the worm shaft 303 of the multi-functional manipulator platform through the mounting hole of the Z-axis rotation bracket II 801 to achieve spatial movement with three degrees of freedom.

[0053] In the multi-functional treatment platform of the manipulator in this embodiment, when fully considering the problems in the magnetic resonance-guided treatment process, first, regarding the magnetic resonance compatibility of the manipulator, it is necessary to ensure that its materials, structure, and movement mode are not interfered by the magnetic field to meet the requirements of normal operation in the magnetic resonance environment. In this embodiment, non-magnetic materials such as acrylic plates, carbon fiber plates, and polyoxymethylene can be used to manufacture the robotic arm, and copper-aluminum alloy can be used as the parts of the driving device to reduce the influence of the magnetic field on it. For example, the platform body (including the fixed frame and the moving base), the coupling are made of aluminum, the connecting component II, the rotating bracket, the rotating rod, and the rotating sub-rod are made of PEEK material, and the first lead screw, the lead screw nut, the sector gear, the worm and worm gear, and the nut are made of copper.

[0054] Secondly, due to the limitation of the treatment space, ensuring that the manipulator can achieve large-amplitude movement within a limited range is a technical problem. This requires precise control of the movement trajectory and speed of the manipulator to achieve the established treatment effect. Specifically, in this embodiment, the integrated design of gear drive, nut-screw drive, and worm and worm gear drive can be adapted to small-space assembly, with three degrees of freedom of movement, specifically including linear movement along the Y-axis and rotation functions around the X-axis and Z-axis, so as to be able to flexibly drive the treatment tool to perform precise positioning and movement within the treatment area, and fully possess the characteristics of the manipulator to assist in operating the treatment tool within the treatment space.

[0055] In summary, the invention designs a multifunctional manipulator platform with three degrees of freedom, which is used to carry a variety of treatment tools for treatment under the imaging navigation of magnetic resonance. During this design process, many technical problems are encountered. After successfully overcoming these difficulties, the invention will provide a safer, more efficient and more reliable treatment assistance means for patients, contributing outstanding strength to the advancement of modern medicine.

Claims

1. A multifunctional treatment platform for manipulators in magnetic resonance imaging, characterized in that: include: A platform body, the platform body comprising a fixed frame and a movable base slidably arranged on the fixed frame; The first driving mechanism comprises a motor group 1 arranged on the fixed frame and a connecting component 1 driven by the motor group 1 to drive the movable base to reciprocate along the Y-axis direction; The second driving mechanism comprises a motor group 2 arranged on the mobile base and a connecting component 2 arranged at the output end of the motor group 2, a treatment tool is arranged at the front end of the connecting component 2, and the second driving component drives the treatment tool to rotate around the Z axis; The third driving mechanism includes a motor group 3 arranged on the movable base and a connecting component 3 connected to the output end of the motor group 3. The third driving mechanism drives the second driving mechanism and the treatment tool to rotate around the X-axis direction.

2. A manipulator multifunctional treatment platform for magnetic resonance imaging according to claim 1, characterized in that: The connecting component three includes a rotating bracket arranged on the mobile base, a rotating rod rotatably arranged on the rotating bracket, a fan gear arranged on the rotating rod, and a spur gear arranged at the output end of the motor group three, the fan gear is meshed and connected with the spur gear, and the rotating rod is fixed on the second driving mechanism.

3. A manipulator multifunctional treatment platform for magnetic resonance imaging according to claim 2, characterized in that: The connecting component three also includes a rotating sub-rod, which is arranged on the movable base through another rotating bracket, and the rotating sub-rod and the rotating rod are respectively located on both sides of the second driving mechanism.

4. The multifunctional manipulator treatment platform for magnetic resonance imaging according to claim 1, characterized in that: The second connecting component includes a worm gear arranged at the output end of the second motor group, and a turbine matched with the worm gear and installed through a turbine shaft, and the treatment tool is installed on the turbine shaft.

5. The multifunctional manipulator treatment platform for magnetic resonance imaging according to claim 1, characterized in that: The movable base has a hollow area, and the vertical projection of the motor group 2 is located in the hollow area.

6. A manipulator multifunctional treatment platform for magnetic resonance imaging according to claim 5, characterized in that: The projection area of ​​the motor group 2 is smaller than the area of ​​the hollow area.

7. The multifunctional manipulator treatment platform for magnetic resonance imaging according to claim 1, characterized in that: The connecting component 1 includes a first screw rod arranged at the output end of the motor group 1 and a screw rod nut installed on the movable base, and the first screw rod passes through the screw rod nut.

8. The multifunctional manipulator treatment platform for magnetic resonance imaging according to claim 1, characterized in that: The movable base comprises a pressing plate and a dragging plate, wherein a sliding groove is formed between the pressing plate and the dragging plate and is slidably connected with the sliding rail on the fixed frame.

9. The multifunctional manipulator treatment platform for magnetic resonance imaging according to claim 1, characterized in that: The manipulator multifunctional treatment platform is made of non-magnetic or weakly magnetic materials.

10. The multifunctional manipulator treatment platform for magnetic resonance imaging according to claim 1, characterized in that: The treatment tool is an ultrasound probe module for ultrasound focused therapy, a syringe module for drug injection, or a surgical forceps module for foreign body clamping and drug delivery.

Images