Prostate treatment head driving device and treatment system

Abstract

The utility model relates to medical magnetic resonance equipment, in particular to a prostate treatment head driving device and a treatment system, which comprise a fixing mechanism, a driving mechanism, a sensor and a control device, the fixing mechanism comprises a shell, a fixing beam, a fixing ring and a fixing base, wherein the fixing beam, the fixing ring and the fixing base are installed in the shell. The fixing beam is connected with the fixing ring and the fixing base. The control device comprises a control ring and a rotating assembly, the control ring is used for controlling rotation of the rotating assembly, and the rotating assembly penetrates through the shell to be connected with the prostate treatment head and used for controlling the prostate treatment head; the driving mechanism is connected with the fixing base and the control ring and used for driving the control ring to rotate. The sensor is connected with the fixing ring and the control device and used for obtaining the rotation angle of the control ring so as to obtain the rotation angle and / or the axial movement distance of the prostate treatment head. Compared with the prior art, the driving device solves the problem that a driving device in the prior art is not firm in multi-stage transmission installation.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of medical magnetic resonance equipment, specifically to a prostate treatment head driving device and treatment system. BACKGROUND

[0002] In the magnetic resonance guided prostate thermal ablation treatment system, treatment head needs to be inserted from patient anus to below prostate, and the lesion on prostate is implemented thermal ablation. This treatment method has the characteristics of non-invasive, and patient is basically painless in the treatment process. By magnetic resonance imaging guiding the focus point of thermal ablation in the treatment process, precise positioning and focusing can be realized, and treatment effect can be observed in time. Therefore, the process of the treatment method is efficient and safe, the treatment effect is excellent, and reliable.

[0003] In the process of thermal ablation, treatment head needs to be controlled to stretch and deflect within a certain angle range, so as to adjust the spatial position of thermal focus point of treatment head, until all point positions in lesion area are thermally ablated. However, the driving device used in the current treatment system realizes the movement of treatment head by multi-stage gear transmission or slide rail transmission, and there are many transmission or movement parts.

[0004] In addition, since the driving device needs to operate in magnetic resonance environment, it needs to be made of non-magnetic material, which makes the structure of common driving device in other fields cannot be directly used in the system. In addition, the positioning of treatment head also needs high precision to provide accurate positioning data, so as to realize efficient and safe treatment.

[0005] Therefore, based on the above-mentioned defects of existing driving device and the limitation of performance requirement of the driving device, a suitable and reliable driving device for magnetic resonance guided thermal ablation treatment system is needed. UTILITY MODEL CONTENT

[0006] The utility model aims at solving at least one of the above problems to provide a kind of prostate treatment head driving device and treatment system, to solve the problem of multiple transmission installation of driving device in prior art.

[0007] The utility model achieves the purpose by the following technical solutions:

[0008] The utility model discloses a kind of prostate treatment head driving device, including fixed mechanism, driving mechanism, sensor and control device;

[0009] The fixed mechanism includes shell and fixed beam, fixed ring and fixed seat installed in the shell, the fixed beam is connected with the fixed ring and the fixed seat respectively;

[0010] The control device comprises a control ring and a rotating assembly, the control ring is used to control the rotation of the rotating assembly, the rotating assembly is connected with the prostate treatment head through the shell and is used to control the prostate treatment head;

[0011] The driving mechanism is connected with the fixed seat and the control ring respectively and is used to drive the rotation of the control ring;

[0012] The sensor is connected with the fixed ring and the control device respectively and is used to obtain the rotation angle of the control ring, so as to obtain the rotation angle and / or axial movement distance of the prostate treatment head.

[0013] The rotating assembly is driven to rotate by the driving mechanism, and then the rotating assembly drives the rotation or axial movement of the prostate treatment head; and the rotation angle of the control ring is measured by the sensor, so that the rotation angle and / or axial movement distance of the prostate treatment head can be accurately obtained.

[0014] Preferably, the rotating assembly comprises a rotating shaft and a transmission nut sleeved on the rotating shaft, the prostate treatment head is connected to the end of the rotating shaft, and the transmission nut is used to transmit the movement from the driving mechanism to the rotating shaft.

[0015] Preferably, the rotating shaft comprises a spline part and a screw rod part, the transmission nut comprises a spline nut and a screw nut, the spline nut is sleeved on the spline part, and the screw nut is sleeved on the screw rod part. The cooperation of the spline nut and the spline part of the rotating shaft can drive the rotating movement of the rotating shaft; the cooperation of the screw nut and the screw rod part of the rotating shaft can drive the rotation and axial movement of the rotating shaft.

[0016] Preferably, the control ring comprises a first control ring and a second control ring, the first control ring is connected with the spline nut, and the second control ring is connected with the screw nut. The movement of the spline nut and the screw nut is driven by the first control ring and the second control ring respectively.

[0017] Preferably, the sensor comprises a first sensor and a second sensor, the first sensor is connected with the first control ring and is used to obtain the rotation angle of the prostate treatment head;

[0018] The second sensor is connected with the second control ring and is used to obtain the axial movement distance of the prostate treatment head.

[0019] Preferably, the first sensor is a single-turn absolute encoder or a multi-turn absolute encoder;

[0020] The second sensor is a multi-turn absolute encoder.

[0021] Single-turn absolute encoder is used for detecting rotation angle, and multi-turn absolute encoder is used for detecting axial displacement, so as to realize accurate control of the position and angle of the prostate heat ablation treatment head.

[0022] Preferably, the driving mechanism is provided with at least two, respectively connected with the first control ring and the second control ring. Through the two driving mechanisms arranged separately, the first control ring and the second control ring can be driven respectively, and the position movement and the angle movement of the prostate heat ablation treatment head can be controlled separately.

[0023] Preferably, the fixing mechanism further comprises a handle, which is arranged outside the shell and connected with the fixing beam.

[0024] Preferably, the driving device is made of non-magnetic material, so that the driving device can be applied to a magnetic resonance guiding system.

[0025] The utility model discloses a second aspect treatment system of prostate, including a kind of prostate treatment head driving device as any one of the above.

[0026] The working principle of the utility model is as follows:

[0027] The control ring is rotated by the driving mechanism to drive the rotating assembly to move, and then the rotating movement and / or axial movement of the prostate treatment head are driven.

[0028] Compared with the prior art, the utility model has the following beneficial effects:

[0029] The utility model discloses a fixing ring and a fixing seat are fixedly installed in the shell by the fixing beam, and the counting device (sensor) and the driving mechanism are fixed by the fixing ring and the fixing seat respectively, so that installation is more firm. BRIEF DESCRIPTION OF DRAWINGS

[0030] Fig. 1 It is stereoscopic structure schematic diagram of driving device;

[0031] Fig. 2 It is stereoscopic structure schematic diagram of driving device after removing shell;

[0032] Fig. 3 It is stereoscopic structure schematic diagram of driving device after removing shell;

[0033] Fig. 4 It is structure schematic diagram of first control ring and transmission nut (screw nut);

[0034] Fig. 5 It is structure schematic diagram of second control ring and transmission nut (screw nut);

[0035] Fig. 6 It is sectional structure schematic diagram of driving device after removing shell;

[0036] In the figure: 1 - drive mechanism; 2 - control ring; 21 - first control ring; 22 - second control ring; 201 - transmission nut; 202 - bearing; 3 - rotating shaft; 4 - sensor; 41 - first sensor; 42 - second sensor; 5 - fixing mechanism; 51 - front end cover; 52 - shell; 53 - rear end cover; 54 - fixing beam; 6 - fixing seat; 7 - fixing ring. DETAILED DESCRIPTION

[0037] The utility model will be explained in detail below in combination with the drawings and specific embodiments.

[0038] Embodiment 1

[0039] A prostate treatment head driving device, as shown in the figure, comprises a fixing mechanism 5, a drive mechanism 1, a sensor 4 and a control device; Figs. 1-6

[0040] The fixing mechanism 5 comprises a shell 52 and a fixing beam 54, a fixing ring 7 and a fixing seat 6 installed in the shell 52, and the fixing beam 54 is connected with the fixing ring 7 and the fixing seat 6 respectively;

[0041] The control device comprises a control ring 2 and a rotating assembly, the control ring 2 is used for controlling the rotation of the rotating assembly, the rotating assembly is connected with the prostate treatment head through the shell 52 and is used for controlling the prostate treatment head;

[0042] The drive mechanism 1 is connected with the fixing seat 6 and the control ring 2 respectively and is used for driving the control ring 2 to rotate;

[0043] The sensor 4 is connected with the fixing ring 7 and the control device respectively and is used for acquiring the rotation angle of the control ring 2, so as to acquire the rotation angle and / or axial movement distance of the prostate treatment head.

[0044] More specifically, in the embodiment:

[0045] As shown in the figure, the prostate treatment head driving device is composed of a fixing mechanism 5, a drive mechanism 1, a sensor 4 and a control device. Figs. 1-6

[0046] ​​The fixing mechanism 5 specifically comprises a shell 52, a front end cover 51, a rear end cover 53, a fixing beam 54, a fixing ring 7 and a fixing seat 6, wherein the shell 52, the front end cover 51 and the rear end cover 53 form a cavity, and the fixing beam 54, the fixing ring 7 and the fixing seat 6 are arranged inside the cavity respectively. The fixing beam 54 is connected between the front end cover 51 and the rear end cover 53 and spans in the cavity, and can be used as a mounting base and support for other structures; the fixing ring 7 is connected to the fixing beam 54 and is used for assembling the sensor 4; and the fixing seat 6 is also connected to the fixing beam 54 and is used for mounting the driving mechanism 1. A handle is further arranged on the outer side of the shell 52.

[0047] The control device is composed of the control ring 2 and the rotating assembly, wherein the rotating assembly is further composed of the rotating shaft 3 and the transmission nut 201, and the prostate treatment head is connected to the output end of the rotating shaft 3 extending out of the cavity. The rotating shaft 3 specifically comprises two sections, i.e. a spline section (provided with splines) and a screw rod section (provided with threads), and correspondingly, the transmission nut 201 is also provided as a spline nut and a screw rod nut, which are respectively sleeved on the spline section and the screw rod section. The control ring 2 is also provided with a pair of ceramic rings, i.e. a first control ring 21 and a second control ring 22; the first control ring 21 is connected to the outside of the spline nut and can drive the spline nut to rotate, and the second control ring 22 is connected to the outside of the screw rod nut and can drive the screw rod nut to rotate, so that the rotating movement and the axial movement of the rotating shaft 3 can be driven through the separate or joint movement of the first control ring 21 and the second control ring 22. A bearing 202 is further arranged on the outside of the transmission nut 201, which is a ceramic bearing 202 and is mounted on the fixing seat 6.

[0048] The driving mechanism 1 is an ultrasonic motor, and the output end thereof is connected to the control ring 2, so as to drive the control ring 2 to rotate through the driving mechanism 1. Corresponding to the control ring 2, the driving mechanism 1 is provided with two groups (each group is symmetrically provided with two driving mechanisms 1), which can be used for independently driving the first control ring 21 and the second control ring 22 to rotate respectively.

[0049] The sensor 4 is an encoder, which comprises a first sensor 41 connected to the first control ring 21 and a second sensor 42 connected to the second control ring 22. The first sensor 41 can adopt a single-turn absolute encoder or a multi-turn absolute encoder, which is used for acquiring the rotating angle of the first control ring 21 to acquire the rotating angle of the prostate treatment head. The second sensor 42 adopts a multi-turn absolute encoder, which is used for acquiring the rotating angle of the second control ring 22 to acquire the axial movement distance of the prostate treatment head in combination with the parameters such as the pitch of the screw rod section.

[0050] The prostate treatment head driving device as a whole adopts non-magnetic materials, so that the driving device can be applied in a magnetic resonance guiding system.

[0051] In the use process:

[0052] When the driving mechanism 1 driving the first control ring 21 is not working and the driving mechanism 1 driving the second control ring 22 is working, the spline nut is in a locked state and the screw nut rotates, which pushes the rotating shaft 3 to move axially. At this time, the second sensor 42 records the number of rotations (rotation angle) of the second control ring 22 or the screw nut, and the second sensor 42 records one rotation, which represents that the spline screw nut translates a pitch distance. The axial movement distance of the rotating shaft 3 can be calculated, and the axial movement distance of the prostate treatment head can be obtained.

[0053] When the driving mechanism 1 driving the first control ring 21 and the driving mechanism 1 driving the second control ring 22 are simultaneously and synchronously working, the spline nut and the screw nut rotate synchronously, which drives the rotating shaft 3 to rotate without axial movement. Due to the position relationship of the prostate, the rotating shaft 3 only needs to rotate a certain angle within a single circle to rotate the prostate treatment head to the target angle. At this time, the rotation angle recorded by the first sensor 41 is the rotation angle of the rotating shaft 3, and the rotation angle of the prostate treatment head can be obtained.

[0054] When the driving mechanism 1 driving the first control ring 21 and the driving mechanism 1 driving the second control ring 22 are simultaneously but asynchronously working, the spline nut and the screw nut rotate asynchronously, which drives the rotating shaft 3 to rotate and move axially. At this time, the angle recorded by the second sensor 42 minus the angle recorded by the first sensor 41, divided by 360 degrees and multiplied by the pitch, can obtain the actual axial movement distance of the rotating shaft 3, and the axial movement distance of the prostate treatment head can be obtained. The actual rotation angle of the rotating shaft 3 is the angle recorded by the first sensor 41, and the rotation angle of the prostate treatment head can be obtained.

[0055] In summary, compared with the existing design, the prostate treatment head driving device of the present scheme has fewer overall parts and a simple structure. The movement components only include the rotating shaft 3 driven by the spline and the screw to stretch and rotate, and the rotating movement of the control ring 2. Other components can be fixedly installed, and all cables can be fixedly routed, which will not hinder the linear movement and rotation movement of the rotating shaft 3 and the prostate treatment head, ensuring the use reliability. In addition, the ultrasonic motor used as the driving mechanism 1 can drive the movement of the prostate treatment head with short stroke and frequent start, and can support the stability and reliability of two degrees of freedom with high precision under the structure of the present scheme. According to the needs, the torque can be further increased by adding or subtracting the number of ultrasonic motors.

[0056] The above description of the embodiments is to facilitate the ordinary skilled in the art to understand and use the utility model. The person skilled in the art can obviously easily make various modifications to these embodiments, and the general principles described herein are applied to other embodiments without the need for creative labor. Therefore, the utility model is not limited to the above embodiments, and the improvements and modifications made by the person skilled in the art according to the disclosure of the utility model without departing from the scope of the utility model should be within the protection scope of the utility model.

Claims

1. A prostate treatment head driving device, characterized in that: The device comprises a fixing mechanism, a driving mechanism, a sensor and a control device. The fixing mechanism comprises a housing, a fixing beam, a fixing ring and a fixing seat, wherein the fixing beam is connected with the fixing ring and the fixing seat respectively. The control device comprises a control ring and a rotating assembly, wherein the control ring is used to control the rotation of the rotating assembly, the rotating assembly is connected with the prostate treatment head through the housing, and is used to control the prostate treatment head. The driving mechanism is connected with the fixing seat and the control ring respectively, and is used to drive the rotation of the control ring. The sensor is connected with the fixing ring and the control device respectively, and is used to obtain the rotation angle of the control ring, so as to obtain the rotation angle and / or axial movement distance of the prostate treatment head.

2. The drive apparatus for a prostate treatment head according to claim 1, wherein The rotating assembly comprises a rotating shaft and a transmission nut sleeved on the rotating shaft.

3. A prostate treatment head driving device according to claim 2, characterized in that: The rotating shaft comprises a spline part and a screw rod part, the transmission nut comprises a spline nut and a screw nut, the spline nut is sleeved on the spline part, and the screw nut is sleeved on the screw rod part.

4. A prostate treatment head driving device according to claim 3, characterized in that: The control ring comprises a first control ring and a second control ring, the first control ring is connected with the spline nut, and the second control ring is connected with the screw nut.

5. A prostate treatment head driving device according to claim 4, characterized in that: The sensor comprises a first sensor and a second sensor, the first sensor is connected with the first control ring, and is used to obtain the rotation angle of the prostate treatment head; The second sensor is connected with the second control ring, and is used to obtain the axial movement distance of the prostate treatment head.

6. The drive assembly for a prostate treatment head of claim 5 wherein, The first sensor is a single-turn absolute encoder or a multi-turn absolute encoder. The second sensor is a multi-turn absolute encoder.

7. The drive assembly for a prostate treatment head of claim 4 wherein, The driving mechanism is provided with at least two, which are connected with the first control ring and the second control ring respectively.

8. The drive assembly for a prostate treatment head of claim 1 wherein, The fixing mechanism further comprises a handle, which is arranged outside the housing and connected with the fixing beam.

9. The drive device for a prostate treatment head according to any one of claims 1 to 8, wherein The driving device adopts non-magnetic material.

10. A treatment system, characterized by The device comprises a prostate treatment head driving device as claimed in any one of claims 1-9.

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