Medical equipment

Abstract

The invention provides a detection intervention system, medical equipment and a detection intervention method. The detection intervention system comprises a gamma ray detector used for detecting molecular image information of a focus area of a patient; the puncture mechanism is used for performing an interventional puncture operation on the focus area; the tail end of the position and posture adjusting mechanism is provided with the gamma ray detector and the puncture mechanism, and the position and posture adjusting mechanism can drive the gamma ray detector and the puncture mechanism to move. The position and posture adjusting mechanism can drive the gamma-ray detector to move to any angle above the focus area and can adjust the distance between the gamma-ray detector and the focus area so as to obtain molecular image information of the focus area in any direction, and the image quality of the molecular image information is improved. Moreover, the puncture mechanism can directly perform interventional puncture operation on the focus area according to the molecular image information, secondary operation is not needed, and the efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular, to a detection intervention system, a medical device, and a detection intervention method. Background Art

[0002] A SPECT (Single-Photon Emission Computed Tomography) machine is a nuclear medicine imaging device developed on the basis of a gamma camera. Its basic structure consists of three major parts: a detector head, a rotating gantry, and a computer and its auxiliary equipment. Currently, when a SPECT machine images a patient's lesion area, the rotating gantry drives the detector head to move in a circular motion around the patient to obtain the metabolic information of the lesion area. However, the direction in which the rotating gantry drives the detector head to rotate is limited, and the metabolic information of the lesion area can only be obtained from a fixed direction, resulting in poor imaging quality and affecting the diagnosis of medical staff. Summary of the Invention

[0003] Based on this, in view of the problem of poor imaging quality caused by obtaining the metabolic information of the lesion area from a fixed direction at present, it is necessary to provide a detection intervention system, a medical device, and a detection intervention method that can improve the imaging quality of images.

[0004] The above object is achieved by the following technical solutions:

[0005] A detection intervention system includes:

[0006] A gamma-ray detector for detecting the molecular imaging information of a patient's lesion area;

[0007] A puncture mechanism for performing an interventional puncture operation on the lesion area; and

[0008] A position and attitude adjustment mechanism, the end of the position and attitude adjustment mechanism is installed with the gamma-ray detector and the puncture mechanism, and can drive the gamma-ray detector and the puncture mechanism to move.

[0009] In one embodiment, the position and attitude adjustment mechanism includes a mounting base and a robotic arm assembly disposed on the mounting base, and the robotic arm assembly includes a serial robotic arm and / or a parallel robotic arm.

[0010] In one embodiment, the mounting base is detachably disposed on the end face of the imaging body.

[0011] In one embodiment, the mounting base is disposed on a mounting reference near the end of the imaging body, and the mounting reference includes the ground, a moving base disposed on the ground, a wall surface, or a ceiling.

[0012] In one embodiment, the position and attitude adjustment assembly further includes a mounting plate disposed at the end of the robotic arm assembly, and the mounting plate is used to mount the puncture mechanism and / or the gamma ray detector.

[0013] In one embodiment, the gamma ray detector and the puncture mechanism are respectively disposed on two sides of the mounting plate. The gamma ray detector is mounted on the surface of the mounting plate facing away from the robotic arm assembly, and the puncture mechanism is mounted on the surface of the mounting plate facing the robotic arm assembly.

[0014] In one embodiment, the puncture mechanism includes a support plate disposed on the mounting plate, a linear motion assembly disposed on the support plate, and an interventional instrument connected to the linear motion assembly. The linear motion assembly drives the interventional instrument to extend to perform an interventional operation.

[0015] In one embodiment, the puncture mechanism further includes a guiding assembly. The guiding assembly is disposed on the support plate and connected to the linear motion assembly, and is used to guide the movement of the interventional instrument.

[0016] A detection and intervention method for a detection and intervention system, which is applied to the detection and intervention system described in any one of the above technical features. The detection and intervention method includes:

[0017] Inject a radioactive isotope agent into the patient's body, and the isotope agent accumulates in the patient to emit gamma rays;

[0018] The position and attitude adjustment mechanism drives the gamma ray detector to move around the patient's body surface for radioactive detection, and determines the area with strong ray intensity as the lesion area;

[0019] The position and attitude adjustment mechanism adjusts the position and attitude of the puncture mechanism, and controls the puncture mechanism to perform an interventional puncture operation.

[0020] A medical device includes an imaging body, a hospital bed, and a detection and intervention system described in any one of the above technical features. The imaging body has a scanning cavity for the hospital bed to be moved into;

[0021] The position and attitude adjustment mechanism can drive the gamma ray detector to align with the lesion area outside or inside the scanning cavity to obtain molecular imaging information of the lesion area;

[0022] The position and attitude adjustment mechanism can also drive the puncture mechanism to extend into the scanning cavity and control the puncture mechanism to perform an interventional puncture surgery;

[0023] The imaging body is an MR device or a CT device.

[0024] After adopting the above technical solution, the present invention has at least the following technical effects:

[0025] When the detection and intervention system, medical device and detection and intervention method of the present invention are in use, the position and attitude adjustment mechanism drives the γ-ray detector to move around the body surface of the patient to determine the lesion area of the patient according to the ray intensity and obtain the molecular imaging information of the lesion area. Then, the position and attitude adjustment mechanism drives the puncture mechanism to perform an interventional puncture operation according to the molecular imaging information. Moreover, when the position and attitude adjustment mechanism obtains the molecular imaging information, it can drive the γ-ray detector to move to any angle above the lesion area and adjust the distance between the γ-ray detector and the lesion area, effectively solving the problem of poor imaging quality caused by obtaining the metabolic information of the lesion area from a fixed direction at present, so as to obtain the molecular imaging information of the lesion area in any direction, improve the image quality of the molecular imaging information, and facilitate the diagnosis of medical staff. Furthermore, after obtaining the molecular imaging information, the puncture mechanism can directly perform an interventional puncture operation on the lesion area according to the molecular imaging information without secondary operation, improving the efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a perspective view of the detection and intervention system of an embodiment of the present invention operating on a patient;

[0027] Figure 2 is Figure 1 a perspective view of the detection and intervention system shown with the mounting base removed;

[0028] Figure 3 is Figure 2 a perspective view of the robotic arm assembly in the detection and intervention system shown;

[0029] Figure 4 is Figure 2 a perspective view of the γ-ray detector and the puncture mechanism in the detection and intervention system shown mounted on the mounting plate;

[0030] Figure 5 is Figure 1 a perspective view of the detection and intervention system cooperating with the imaging body shown.

[0031] Wherein:

[0032] 100 - Detection and intervention system;

[0033] 110 - Position and attitude adjustment mechanism;

[0034] 111 - Mounting base;

[0035] 112 - Robotic arm assembly;

[0036] 1121 - Rod;

[0037] 1122 - Joint axis;

[0038] 113 - Mounting plate;

[0039] 120 - Gamma ray detector;

[0040] 130 - Puncture mechanism;

[0041] 131 - Support plate;

[0042] 132 - Linear motion assembly;

[0043] 133 - Intervention instrument;

[0044] 134 - Guide assembly;

[0045] 1341 - Connecting block; 13411 - Card slot;

[0046] 1342 - Guide rail;

[0047] 200 - Patient;

[0048] 300 - Hospital bed;

[0049] 400 - Imaging body. Detailed implementation manners

[0050] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the detection intervention system, medical device and detection intervention method of the present invention are further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0051] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequential or technical meanings. The terms "connection" and "coupling" mentioned in this application, unless otherwise specified, both include direct and indirect connections (couplings). In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, 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.

[0052] In the present invention, unless otherwise clearly specified or limited, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply indicates that the horizontal height of the first feature is lower than that of the second feature.

[0053] The present invention provides a detection intervention system 100. The detection intervention system 100 can be used independently or in conjunction with the imaging body 400 of a medical device. Refer to Figures 1 to 3 , when the detection intervention system 100 is used independently, the detection intervention system 100 can perform a radioactive detection on the patient 200 to determine the lesion area of the patient 200, and further obtain the molecular imaging information of the lesion area of the patient 200. Refer to Figure 1 and Figure 5 , when the detection intervention system 100 is used in conjunction with the imaging body 400, the detection intervention system 100 can obtain the molecular imaging information of the lesion area, and the imaging body 400 can scan the anatomical image information of the patient 200. The molecular imaging information and the anatomical image information can be transmitted to the control system of the medical device, and the control system fuses the two kinds of information to form fusion information, which can clearly display the specific information of the lesion area such as position information and real-time dynamic information, etc., so as to guide the interventional puncture surgery in real time and ensure the safety of the surgery.

[0054] Moreover, the detection intervention system 100 of the present invention can perform radioactive detection on the patient 200 at any angle. When determining the lesion area, the detection intervention system 100 can be adjusted to any angle above the lesion area, and the distance between the detection intervention system 100 and the lesion area can be adjusted to obtain the molecular imaging information of the lesion area in any direction, improve the image quality of the molecular imaging information, and facilitate the diagnosis of medical staff. Moreover, after obtaining the molecular imaging information, the detection intervention system 100 can directly perform an interventional puncture surgery on the lesion area according to the molecular imaging information without secondary operation, improving the efficiency.

[0055] Refer to Figures 1 to 3In one embodiment, the detection intervention system 100 includes a gamma-ray detector 120, a puncture mechanism 130, and a position and posture adjustment mechanism 110. The gamma-ray detector 120 is used to detect molecular imaging information of the lesion area of ​​the patient 200. The puncture mechanism 130 is used to perform interventional puncture surgery on the lesion area. The gamma-ray detector 120 and the puncture mechanism 130 are installed at the end of the position and posture adjustment mechanism 110, and can drive the gamma-ray detector 120 and the puncture mechanism 130 to move.

[0056] The gamma-ray detector 120 is used to perform radioactive detection on the patient 200, and can detect the lesion area of ​​the organism and generate a molecular image containing the physiological information of the organism, thereby providing assistance to medical staff for diagnosis and treatment. Specifically, a radioactive isotope agent is injected into a specific organ in the patient 200, and the isotope agent will be enriched in areas where the human body has vigorous metabolism, such as tumors or inflammation, and this area is the lesion area. At the same time, the isotope decays and releases gamma rays. When the gamma-ray detector 120 moves along the surface of the patient 200, it can detect the intensity of the gamma rays released in the patient 200, and determine the area with high ray intensity, such as tumors or inflammation, which is the lesion area. In addition, after the gamma-ray detector 120 receives the ray intensity of the lesion area, the image of the detection points carrying spatial position information detected in all directions is reconstructed through the reconstruction algorithm of the computer, and the spatial distribution of gamma rays in the organism can be obtained, thereby generating a molecular image with gamma-ray information, and then real-time tracking and monitoring of the lesion area of ​​the patient 200.

[0057] In addition, the gamma-ray detector 120 is disposed at the end of the position and attitude adjustment mechanism 110. The position and attitude adjustment mechanism 110 has a motion capability of not less than two degrees of freedom. On the one hand, the position and attitude adjustment mechanism 110 has a large range of motion, so that when the position and attitude adjustment mechanism 110 drives the gamma-ray detector 120 to move, the gamma-ray detector 120 can have a large motion space, so that the gamma-ray detector 120 can perform a comprehensive detection of the patient 200 body to determine the area with high radiation intensity. On the other hand, the position and attitude adjustment mechanism 110 can also adjust the position and / or attitude of its end, thereby realizing the adjustment of the position and attitude of the gamma-ray detector 120, so that the gamma-ray detector 120 can be aimed at the lesion area of ​​the patient 200 at any angle and any distance, so as to obtain a molecular imaging image of the lesion area with higher quality.

[0058] Since the current detector is disposed in the imaging body, the detector is driven to rotate by the rotating gantry of the imaging body to perform radioactive detection on the patient. However, in this method, the rotating gantry has only a single rotational degree of freedom, so that the detector can only detect the image of the patient's lesion area at a single angle, which affects the imaging quality of the image. Therefore, the detection intervention system 100 of the present invention is provided with a gamma ray detector 120 independent of the imaging body 400, and a position and attitude adjustment mechanism 110 is used to drive the gamma ray detector 120 to achieve a six-degree-of-freedom movement position in space, so that the gamma ray detector 120 can perform molecular imaging information imaging on the lesion area at any angle and / or position while performing radioactive detection on the patient 200, improving the imaging quality of the image and facilitating the diagnosis of medical staff.

[0059] Moreover, the detection intervention system 100 of the present invention can perform an intervention operation on the lesion area, specifically implemented by the puncture mechanism 130. It can be understood that the intervention operation here includes, but is not limited to, operations such as puncture, biopsy, ablation, etc. The puncture mechanism 130 is the main component for the detection intervention system 100 to perform an intervention puncture operation. The puncture mechanism 130 can penetrate into the lesion area of the patient 200 to complete the intervention puncture surgery. And, the fusion information after the gamma ray detector 120 is fused with the imaging body 400 can guide the puncture mechanism 130, so that the puncture mechanism 130 can accurately penetrate into the lesion area of the patient 200, ensuring that the intervention puncture surgery can complete the puncture process precisely, efficiently and safely.

[0060] When the detection intervention system 100 of the above embodiment is used, the position and attitude adjustment mechanism 110 drives the gamma ray detector 120 to move around the body surface of the patient 200 to determine the lesion area of the patient 200 according to the ray intensity and obtain the molecular imaging information of the lesion area. Then, the position and attitude adjustment mechanism 110 drives the puncture mechanism 130 to perform an intervention puncture surgery according to the molecular imaging information. And, when the position and attitude adjustment mechanism 110 obtains the molecular imaging information, it can drive the gamma ray detector 120 to move to any angle above the lesion area and adjust the distance between the gamma ray detector 120 and the lesion area, effectively solving the problem of poor imaging quality caused by obtaining the metabolic information of the lesion area from a fixed direction at present, so as to obtain the molecular imaging information of the lesion area in any direction, improving the image quality of the molecular imaging information and facilitating the diagnosis of medical staff. Moreover, after obtaining the molecular imaging information, the puncture mechanism 130 can directly perform an intervention puncture surgery on the lesion area according to the molecular imaging information without performing a secondary operation, improving the efficiency.

[0061] See Figure 2 and Figure 3, in one embodiment, the position and attitude adjustment mechanism 110 includes a mounting base 111 and a robotic arm assembly 112 disposed on the mounting base 111. The robotic arm assembly 112 includes a serial robotic arm and / or a parallel robotic arm. The mounting base 111 serves to bear and mount, and is used to mount the robotic arm assembly 112, so that the robotic arm assembly 112 can be mounted at any position. Optionally, the mounting base 111 includes, but is not limited to, a mounting platform, a mounting column, etc., and can also be other components capable of realizing the mounting of the robotic arm assembly 112.

[0062] Optionally, the mounting base 111 is a columnar multi-section structure, and its length and height can be adjusted to meet the requirements of different heights. Optionally, the mounting base is provided with a cavity extending along the axis, and a signal transmission line / power transmission line is arranged in the cavity. The signal transmission line / power transmission line connects the gamma-ray detector 120 / surface detector 130 and the controller.

[0063] The robotic arm assembly 112 includes a serial robotic arm and / or a parallel robotic arm, and at least one serial robotic arm and / or at least one parallel robotic arm are connected. That is to say, the robotic arm assembly 112 can include at least one serial robotic arm, and the gamma-ray detector 120 and the puncture mechanism 130 are driven to move through the connection of at least one serial robotic arm. The robotic arm assembly 112 can also include multiple parallel robotic arms, and the gamma-ray detector 120 and the puncture mechanism 130 are driven to move through the connection of at least one parallel robotic arm. Of course, the robotic arm assembly 112 can also include at least one serial robotic arm and at least one parallel robotic arm, and the gamma-ray detector 120 and the puncture mechanism 130 are driven to move through the cooperation of the serial robotic arm and the parallel robotic arm. At this time, the parallel robotic arm is located at the end of the serial robotic arm. It can be understood that the serial robotic arm includes multiple rods 1121, and is rotatably connected through joint axes 1122. The parallel robotic arm can include, for example, a stewart platform.

[0064] The present invention is described only by taking the robotic arm assembly 112 including rods 1121 as an example. In one embodiment, the robotic arm assembly 112 includes multiple rods 1121 and multiple joint axes 1122. The multiple rods 1121 are sequentially rotatably connected through the joint axes 1122. The first ends of the multiple rods 1121 are rotatably mounted on the mounting base 111 through the joint axes 1122, and the ends of the multiple rods 1121 are rotatably mounted on the gamma-ray detector 120 and / or the puncture mechanism 130 through the joint axes 1122. The robotic arm assembly 112 formed by the multiple rods 1121 has multiple degrees of freedom, and coupled with the large working space of the multiple joint axes 1122 connected in series, this can enable the end of the robotic arm assembly 112 to move to any position, and then drive the gamma-ray detector 120 to perform radioactive detection on the patient 200.

[0065] It can be understood that the robotic arm assembly 112 can adopt a three-joint serial robotic arm, a four-joint serial robotic arm, a five-joint serial robotic arm, a six-joint serial robotic arm, or even a robotic arm with more serial joints to meet the motion requirements of different lesion positions. Exemplarily, as Figure 3 shown, the robotic arm assembly 112 is a six-joint serial robotic arm. Rotatable joint axes 1122 are provided between adjacent rods 1121, between the rod 1121 and the mounting base 111, and at the end of the rod 1121. The rod 1121 can rotate in corresponding directions through the joint axis 1122. After the six-joint rods 1121 are rotatably superimposed, the end of the robotic arm assembly 112 can have a wide range of motion, so as to drive the γ-ray detector 120 to move to any position, thereby meeting the needs of radioactive detection of the patient 200.

[0066] Optionally, the detection and intervention system 100 further includes a controller, which can be electrically connected to the γ-ray detector 120, the robotic arm assembly 112, and the puncture mechanism 130. The controller can control the γ-ray detector 120 to detect the γ-rays emitted by the isotopes in the patient 200 to achieve ray detection, and obtain the molecular imaging information of the lesion area; the controller can control the movement and stop of the robotic arm assembly 112; the controller can control the puncture mechanism 130 to perform puncture and intervention operations. Moreover, the controller can also be transmission-connected to the control system of the medical device to transmit the molecular imaging information to the control system. The controller can be a computer, DSP, single-chip microcomputer, FPGA, etc.

[0067] After the γ-ray detector 120 detects a region with a large radioactivity, the controller of the detection and intervention system 100 will control the position locking of the robotic arm assembly 112, thereby preventing the positions of the γ-ray detector 120 and the puncture mechanism 130 from shifting due to the continued movement of the robotic arm assembly 112, ensuring accurate imaging of the molecular imaging information of the lesion area, and ensuring the accuracy of the operation. Exemplarily, the position and attitude adjustment mechanism 110 further includes a control motor electrically connected to the controller. The controller drives the movement of the robotic arm assembly 112 through the control motor. When the robotic arm assembly 112 moves to the lesion area and adjusts to the required detection angle, the control motor is locked, so that the control motor stops moving, thereby realizing the locking of the robotic arm assembly 112. When the detection angle needs to be adjusted again, the controller unlocks the control motor, and after the robotic arm assembly 112 is adjusted, the control motor is locked again.

[0068] Optionally, the controller can automatically control the operation of the γ-ray detector 120 and the puncture mechanism 130. Of course, in other embodiments of the present invention, the detection and intervention system 100 further includes a manipulator, which is electrically connected to the controller and the robotic arm assembly 112, and is used to control the movement of the robotic arm assembly 112 to achieve manual control of the γ-ray detector 120 and the puncture mechanism 130.

[0069] It is understandable that the robotic arm assembly 112 drives the gamma-ray detector 120 to perform radioactive detection in the scanning cavity of the imaging body 400, or can also perform radioactive detection outside the scanning cavity of the imaging body 400.

[0070] It should be noted that the structure of the gamma-ray detector 120 is the same as that of the detector in the existing imaging body 400, both including multiple detector modules, etc.; the detection intervention system 100 of the present invention considers the imaging angle problem of molecular imaging information, so the gamma-ray detector 120 is independent of the imaging body 400, and the robotic arm assembly 112 is used to adjust the detection angle and position of the gamma-ray detector 120 to ensure the imaging quality of the image. The specific structure of the gamma-ray detector 120 at least includes a collimator, a crystal, a light guide, a photomultiplier tube, a calculation circuit, etc., and its specific functions, installation positions and connection relationships will not be elaborated one by one.

[0071] See Figure 1 and Figure 5 , in an embodiment, the mounting seat 111 is detachably arranged on the end face of the imaging body 400. The detection intervention system 100 of the present invention can be used in cooperation with the existing imaging body 400 without the need for separate addition, which can reduce costs. When radioactive detection needs to be performed, the mounting seat 111 is installed on the end face of the imaging body 400. At this time, the robotic arm assembly 112 can drive the gamma-ray detector 120 to perform radioactive detection. After the detection is completed, the mounting seat 111 can be removed from the end face of the imaging body 400, which is convenient for the storage of the detection intervention system 100 and at the same time avoids affecting the single imaging of the imaging body 400. Of course, in other embodiments of the present invention, the mounting seat 111 can also be directly fixed to the end face of the imaging body 400.

[0072] In an embodiment, the mounting seat 111 is detachably arranged on the hospital bed 300. The patient 200 lies on the hospital bed 300, and the robotic arm assembly 112 can drive the gamma-ray detector 120 to perform radioactive detection on the patient 200 on the hospital bed 300. When the gamma-ray detector 120 needs to be moved into the scanning cavity, it is not necessary to control the robotic arm assembly 112 to drive the gamma-ray detector 120 to move by the controller. Instead, the hospital bed 300 can directly drive the mounting seat 111 and the robotic arm assembly 112 and the gamma-ray detector 120 thereon to move to the scanning cavity. It is understandable that the mounting seat 111 is installed on the hospital bed 300 during use and can be detached after use. Of course, in other embodiments of the present invention, the mounting seat 111 can also be fixedly installed on the hospital bed 300.

[0073] In one embodiment, the mounting base 111 is disposed at a mounting reference near the end of the imaging body 400. The mounting reference includes the ground, a moving base disposed on the ground, a wall surface, or a ceiling. That is to say, the mounting base 111 can be disposed near the imaging body 400, so that the robotic arm assembly 112 drives the gamma ray detector 120 to move to the end of the imaging body 400 and can also move into the scanning cavity, realizing radioactive detection of the patient 200 on the hospital bed 300.

[0074] It should be noted that when the detection intervention system 100 is used alone without being combined with the imaging body 400, the mounting base 111 is disposed on the ground, wall surface, or ceiling near the hospital bed 300. At this time, there can be only the hospital bed 300 in the detection room, or the hospital bed 300 does not enter the imaging body 400. The robotic arm assembly 112 near the hospital bed 300 drives the gamma ray detector 120 to perform radioactive detection on the patient 200 on the hospital bed 300.

[0075] See Figures 1 to 4 , in one embodiment, the position and attitude adjustment mechanism 110 further includes a mounting plate 113 disposed at the end of the robotic arm assembly 112. The mounting plate 113 is used to mount the puncture mechanism 130 and / or the gamma ray detector 120. The mounting plate 113 serves as a bearing and mounting function to mount the puncture mechanism 130 and the gamma ray detector 120 at the end of the robotic arm assembly 112. Optionally, the puncture mechanism 130 and the gamma ray detector 120 are detachably mounted on the mounting plate 113. Further, the puncture mechanism 130 and the gamma ray detector 120 are detachably mounted on the mounting plate 113 through threaded members.

[0076] Optionally, the mounting plate 113 can only mount the gamma ray detector 120 or the puncture mechanism 130. When the mounting plate 113 only mounts the gamma ray detector 120 or the puncture mechanism 130, first mount the gamma ray detector 120 on the mounting plate 113. The robotic arm assembly 112 first drives the gamma ray detector 120 to perform radioactive detection to obtain molecular imaging information of the lesion area. Then, remove the gamma ray detector 120 from the mounting plate 113, and then mount the puncture mechanism 130. The robotic arm assembly 112 then drives the puncture mechanism 130 to perform an interventional puncture operation.

[0077] Optionally, the gamma ray detector 120 and the puncture mechanism 130 can be mounted on the mounting plate 113 at the same time. That is to say, the gamma ray detector 120 and the puncture mechanism 130 are an integrated structure. The robotic arm assembly 112 first drives the gamma ray detector 120 to perform radioactive detection to obtain molecular imaging information of the lesion area; then, the robotic arm assembly 112 can directly drive the puncture mechanism 130 to perform an interventional puncture operation. This eliminates the need to replace the end, saves the process of disassembly and reassembly again, and also reduces the repositioning of the robotic arm assembly 112, improving efficiency.

[0078] Optionally, the γ-ray detector 120 and the puncture mechanism 130 may be arranged on different sides. In one embodiment, the γ-ray detector 120 and the puncture mechanism 130 are respectively arranged on both sides of the mounting plate 113. The γ-ray detector 120 is mounted on the surface of the mounting plate 113 facing away from the robotic arm assembly 112, and the puncture mechanism 130 is mounted on the surface of the mounting plate 113 facing the robotic arm assembly 112. That is to say, the γ-ray detector 120 and the puncture mechanism 130 are mounted on the opposite sides of the mounting plate 113. The γ-ray detector 120 faces the patient 200, and the puncture mechanism 130 faces away from the patient 200.

[0079] The γ-ray detector 120 is arranged on one side of the mounting plate 113 facing the patient 200 so that the γ-ray detector 120 can directly receive the ray information in the patient 200's body. After the puncture mechanism 130 is arranged on the surface of the mounting plate 113 away from the patient 200, the puncture mechanism 130 can be hidden so that the puncture mechanism 130 does not protrude from the γ-ray detector 120. In this way, when the γ-ray detector 120 approaches the patient 200, there will be no interference between the puncture mechanism 130 and the patient 200, ensuring the accuracy of the detection and intervention system 100.

[0080] Of course, in other embodiments of the present invention, the puncture mechanism 130 may also be arranged on the same side as the γ-ray detector 120. At this time, it is only necessary to ensure that the end face of the puncture mechanism 130 is flush with the end face of the γ-ray detector 120. At this time, components such as a backing plate or a bracket can be added between the mounting plate 113 and the γ-ray detector 120.

[0081] Optionally, the γ-ray detector 120 and the puncture mechanism 130 may also be arranged on the same side of the mounting plate 113 and located on the left and right sides of the joint of the puncture mechanism or the robotic arm assembly 112. By arranging the γ-ray detector 120 and the puncture mechanism 130 in this way, the mounting plate 113 can be closer to the patient, reducing the length of the intervention instrument 133 and facilitating subsequent puncture surgery. In addition, by adjusting the distance between the center of gravity of the puncture mechanism 130, the center of gravity of the γ-ray detector 120 and the joint of the robotic arm assembly 112 (or the joint) and the joint part (point) of the mounting plate 113, the torques of the puncture mechanism 130 and the γ-ray detector 120 acting on the mounting plate 113 are made equal, so as to better balance the spatial positions of the puncture mechanism 130 and the γ-ray detector 120 and facilitate the more accurate positioning of the puncture mechanism 130.

[0082] In one embodiment, the puncture mechanism 130 includes a support plate 131 disposed on the mounting plate 113, a linear motion assembly 132 disposed on the support plate 131, and an intervention instrument 133 connected to the linear motion assembly 132. The linear motion assembly 132 drives the intervention instrument 133 to extend to perform an intervention operation. The support plate 131 is used to mount the puncture mechanism 130 on the mounting plate 113. Exemplarily, the support plate 131 is disposed perpendicular to the mounting plate 113. The linear motion assembly 132 is mounted on the support plate 131, and the output end of the linear motion assembly 132 is mounted with the intervention instrument 133. The linear motion assembly 132 can output a linear motion to drive the intervention instrument 133 to penetrate into the lesion area or move out of the lesion area.

[0083] Optionally, the linear motion assembly 132 is a structure that can output a linear motion, such as a motor cooperating with a ball screw structure, a motor cooperating with a belt drive structure, a telescopic motor, a cylinder, etc. Exemplarily, the linear motion assembly 132 includes a motor, a screw rod connected to the output end of the motor, and a nut that can rotate along the screw rod. The nut can be mounted with the intervention instrument 133. When the motor rotates, it can drive the screw rod to rotate, and then the nut moves axially along the screw rod to drive the intervention instrument 133 to extend or retract.

[0084] Optionally, the intervention instrument 133 is a puncture needle. The puncture needle includes, but is not limited to, a biopsy needle, a radiofrequency ablation needle, a microwave ablation needle, or a puncture drainage needle, etc. Of course, in other embodiments of the present invention, the intervention instrument 133 may also include a non-contact treatment component, etc. The non-contact treatment component includes, but is not limited to, a radiation source for radiotherapy, etc.

[0085] In one embodiment, the puncture mechanism 130 further includes a guiding assembly 134. The guiding assembly 134 is disposed on the support plate 131 and connected to the linear motion assembly 132, and is used to guide the movement of the intervention instrument 133. The guiding assembly 134 is used to guide the linear motion output by the linear motion assembly 132, to prevent the nut from running off and causing the intervention angle of the intervention instrument 133 to change, and to ensure the safety of the intervention operation. Exemplarily, the guiding assembly 134 includes a guide rail 1342 and a connection block 1341 that can slide on the guide rail 1342. The connection block 1341 is connected to the nut. When the nut moves axially along the screw rod, it can drive the connection block 1341 to slide along the guide rail 1342, ensuring the accurate movement track of the connection block 1341. Optionally, the connection block 1341 has a card slot 13411 for detachably mounting the intervention instrument 133, facilitating the replacement of the intervention instrument 133.

[0086] Furthermore, the end of the mounting plate 113 is provided with a through hole penetrating the upper and lower surfaces of the mounting plate, and the interventional instrument 133 can pass through the through hole. Optionally, the through hole can be a V-shaped hole, and the interventional instrument 133 is adjacent to the bottom of the V-shaped hole. The V-shaped hole can facilitate the installation of the interventional instrument and assist in positioning the interventional instrument 133.

[0087] The present invention also provides a detection intervention method of the detection intervention system 100. The detection intervention method is applied to the detection intervention system 100 of any of the above embodiments. The detection intervention method includes:

[0088] A radioactive isotope agent is injected into the patient 200, and the isotope agent is accumulated at the lesion site in the patient 200 and emits gamma rays;

[0089] The position and posture adjustment mechanism 110 drives the gamma-ray detector 120 to move around the body surface of the patient 200 to perform radioactive detection, and determines that the area with high radiation intensity is the lesion area;

[0090] The position and posture adjustment mechanism 110 adjusts the position and posture of the puncture mechanism 130 and controls the puncture mechanism 130 to perform an interventional puncture operation.

[0091] When the detection intervention system 100 is used, the gamma-ray detector 120 and the puncture mechanism 130 are first installed at the end of the mechanical arm assembly 112. Then, the medical staff injects the radioactive isotope agent into the patient 200. The isotope agent will be enriched in the metabolically active areas in the patient 200, such as tumors or inflammation areas, and the isotope agent will decay and release gamma rays. The mechanical arm assembly 112 of the position and posture adjustment mechanism 110 drives the gamma-ray detector 120 to move around the body surface of the patient 200 to perform radioactive detection. The gamma-ray detector 120 can receive the radiation information in the patient 200 and determine the area with high radiation intensity, which is the lesion area. At this time, the gamma-ray detector 120 can generate molecular imaging information after receiving the radiation information of the lesion area. Then, the mechanical arm assembly 112 drives the puncture mechanism 130 to perform the interventional puncture surgery according to the position of the lesion area detected by the gamma-ray detector 120 and under the guidance of the molecular imaging information.

[0092] See also Figure 5, the present invention also provides a medical device, including an imaging body 400, a hospital bed 300, and the detection and intervention system 100 in the above embodiments. The imaging body 400 has a scanning cavity for the hospital bed 300 to move into. The position and posture adjustment mechanism 110 can drive the gamma-ray detector 120 to align with the lesion area outside or inside the scanning cavity to obtain molecular imaging information of the lesion area. The position and posture adjustment mechanism 110 can also drive the puncture mechanism 130 to extend into the scanning cavity and control the puncture mechanism 130 to perform an interventional puncture operation. After the medical device of the present invention adopts the detection and intervention system 100 of the above embodiments, the fusion information of the lesion area is obtained through the cooperation of the gamma-ray detector 120 independent of the imaging body 400 and the imaging body 400. At the same time, the robotic arm assembly 112 can drive the puncture mechanism 130 to extend into the scanning cavity during the interventional puncture operation. Subsequently, the linear motion assembly 132 drives the interventional instrument 133 to move according to the fusion information to penetrate into the lesion area of the patient 200, completing the interventional puncture operation. Moreover, after the gamma-ray detector 120 is independent of the imaging body 400, the robotic arm assembly 112 can drive the gamma-ray detector 120 to image the lesion area at any angle and any position, improving the imaging quality and facilitating the diagnosis of medical staff.

[0093] Among them, the imaging body 400 can be a Magnetic Resonance Imaging (MR) device or a Computed Tomography (CT) device. The gamma-ray detector 120 has great clinical value for MR- or CT-guided real-time interventional puncture. Especially for forming real-time fusion information, anatomical structure, functional imaging, and metabolic imaging information can be obtained simultaneously. Under the guidance of the fusion information, an accurate, efficient, and safe puncture process can be achieved.

[0094] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered within the scope of the description in this specification.

[0095] The above embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it cannot be understood as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

1. A medical device, characterized in that, The medical device includes a detection and intervention system, and the detection and intervention system includes: a controller, a gamma-ray detector, a position and attitude adjustment mechanism, and a puncture mechanism; The controller is configured to control the gamma-ray detector to detect the gamma rays emitted by the isotope in the patient's body to achieve ray detection, and obtain molecular imaging information of the lesion area; The controller is configured to control the movement and stop of the position and attitude adjustment mechanism; The controller is configured to control the puncture mechanism to perform a puncture intervention operation.

2. The medical device according to claim 1, wherein The controller is configured to control the gamma-ray detector to detect the gamma rays emitted by the isotope in the patient's body to achieve ray detection, and obtain molecular imaging information of the lesion area, including: The controller controls the position and attitude adjustment mechanism to drive the gamma-ray detector to move around the patient's body surface for radioactive detection, and determines the area with strong ray intensity as the lesion area.

3. The medical device according to claim 1, wherein The position and attitude adjustment mechanism includes a robotic arm assembly, and the controller is configured to control the movement and stop of the position and attitude adjustment mechanism, including: After the gamma-ray detector detects the lesion area, the controller controls the position locking of the robotic arm assembly.

4. The medical device according to claim 3, characterized in that, The position and attitude adjustment mechanism further includes a control motor electrically connected to the controller. The controller drives the robotic arm assembly through the control motor. When the robotic arm assembly moves to the lesion area and adjusts the required detection angle, the control motor is locked to stop the movement of the control motor, thereby realizing the locking of the robotic arm assembly.

5. The medical device according to claim 1, characterized in that, The controller can also be connected to the control system of the medical device for transmission, and transmit the molecular imaging information to the control system.

6. The medical device according to claim 5, characterized in that, The medical device includes an imaging body. The detection and intervention system is used in cooperation with the imaging body. The detection and intervention system obtains molecular imaging information of the lesion area, and the imaging body obtains anatomical image information of the patient; The molecular imaging information and the anatomical image information are transmitted to the control system of the medical device. The control system fuses the molecular imaging information and the anatomical image information to form fusion information, and the fusion information is used to display the position information and real-time dynamic information of the lesion area.

7. The medical device according to claim 1, characterized in that, The position and attitude adjustment mechanism includes a robotic arm assembly and a mounting plate provided at the end of the robotic arm assembly; The gamma-ray detector and the puncture mechanism are provided on the same side of the mounting plate; alternatively, the gamma-ray detector and the puncture mechanism are provided on both sides of the mounting plate.

8. The medical device according to claim 1, characterized in that, The controller is configured to control the puncture mechanism to perform a puncture intervention operation, including: The controller controls the position and attitude adjustment mechanism to adjust the position and attitude of the puncture mechanism, and controls the puncture mechanism to perform an intervention puncture operation.

9. The medical device according to claim 8, wherein The detection and intervention system further includes a manipulator, which is electrically connected to the controller and the position and attitude adjustment mechanism. Manually operating the manipulator is used to control the movement of the position and attitude adjustment mechanism to realize the movement of the gamma-ray detector and the puncture mechanism.

10. The medical device according to claim 1, wherein The medical device includes an imaging body and a hospital bed, and the imaging body has a scanning cavity into which the hospital bed can be moved. The position and attitude adjustment mechanism includes a mounting base and a robotic arm assembly disposed on the mounting base, and the gamma ray detection and the puncture mechanism are disposed at the end of the robotic arm assembly. The mounting base is disposed on the hospital bed, and the controller is used to control the hospital bed to move into the scanning cavity so that the gamma ray detection and the puncture mechanism enter the scanning cavity.

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