Intelligent radio frequency treatment device for animal experiments

Abstract

The utility model provides a kind of animal experiment intelligent radio frequency treatment equipment, and the equipment includes radio frequency treatment system, is composed of radio frequency probe, mechanical arm and radio frequency control unit, for intelligent regulation and control radio frequency power is implemented radio frequency treatment operation to experimental animal;Monitoring feedback system is composed of monitor and electrode lead wire, for periodically monitoring the vital sign parameters of experimental animal, and vital sign parameters are fed back to the radio frequency control unit;Operation platform system is composed of operation platform, fixed band, multi-axis regulation and control unit and lasso, for fixing experimental animal and adjusting the position and angle of the operation platform by the multi-axis regulation and control unit, to cooperate radio frequency treatment system and carry out experimental operation.The utility model's animal experiment intelligent radio frequency treatment equipment can realize the radio frequency operation of large and small experimental animals, realizes energy control, real-time monitoring and intelligent feedback integration throughout, and is suitable for tumor ablation, tissue repair and other animal model research.

Description

Technical Field

[0001] This utility model relates to the technical field of radiofrequency therapy, and in particular to an intelligent radiofrequency therapy device for animal experiments. Background Technology

[0002] Radiofrequency ablation is a minimally invasive technique that uses high-frequency alternating current to generate a localized thermal effect through organs and tissues. Compared with traditional surgery, radiofrequency ablation has advantages such as precision, safety, fewer complications, faster recovery, less pain, and reliable results. It has gained widespread recognition in the international medical community and has become an important treatment for diseases such as solid tumors, skin scars, and arrhythmias.

[0003] However, existing radiofrequency therapy technology has the following drawbacks in animal experiments: existing radiofrequency devices are mostly developed for human medical use and cannot adapt to the small tissue characteristics of laboratory animals such as mice and rabbits, which can easily lead to crude energy control phenomena such as energy overload or insufficient energy; secondly, they lack real-time feedback functions and cannot simultaneously monitor tissue impedance, temperature changes and biological responses, relying on manual experience to adjust parameters; in addition, there is a disconnect between experimental data and the synchronous recording of radiofrequency parameters and animal physiological data, which affects mechanism research. Utility Model Content

[0004] This invention is proposed to address the aforementioned shortcomings and aims to provide an intelligent radiofrequency therapy device for animal experiments. This system integrates energy control, real-time monitoring, and intelligent feedback functions, and has high safety and stability.

[0005] To achieve the above objectives, this utility model provides an intelligent radiofrequency therapy device for animal experiments, comprising: The radiofrequency therapy system consists of a radiofrequency probe, a robotic arm, and a radiofrequency control unit, and is used to intelligently regulate the radiofrequency power to perform radiofrequency therapy on laboratory animals. The monitoring feedback system consists of a monitor and electrode wires. The monitor is connected to the experimental animal through the electrode wires to periodically monitor the vital signs parameters of the experimental animal and transmit the vital signs parameters to the radio frequency control unit. The operating platform system consists of an operating table and a multi-axis control unit. The operating table is equipped with a fixing strap and a lasso for fixing experimental animals. The position and angle of the operating table are adjusted by the multi-axis control unit to cooperate with the radiofrequency therapy system for experimental operations.

[0006] Furthermore, the radio frequency probe incorporates a miniature ultrasonic probe and an optical fiber temperature sensor. The radio frequency output modes of the radio frequency probe include pulse mode and / or continuous mode, with an output frequency range of 200kHz to 5MHz.

[0007] Furthermore, the radio frequency probe is needle-shaped, rod-shaped, or spherical.

[0008] Furthermore, the robotic arm has several rotating axes, with adjacent rotating axes connected by a movable rotational connection. The robotic arm is used to deliver the radiofrequency probe to the target site on the experimental animal at multiple angles, and to complete the radiofrequency treatment operation under the control of the radiofrequency control unit.

[0009] Furthermore, the control signal output terminal of the radio frequency control unit is connected to the control signal input terminals of the radio frequency probe and the robotic arm, respectively. The radio frequency control unit, in cooperation with the monitoring feedback system and the operating platform system, controls the coordinated operation of the radio frequency probe and the robotic arm.

[0010] Furthermore, the monitor is connected to the surface of the experimental animal via electrode wires, and its data output terminal is connected to the data input terminal of the radio frequency control unit. The monitor is used to periodically collect vital sign parameters of the experimental animal and transmit these parameters to the radio frequency control unit to adjust the radio frequency output power and operating time based on the vital sign parameters.

[0011] Furthermore, the operating platform is a sliding plate structure whose platform area can be adjusted according to the size of the experimental animal. The side of the operating platform is provided with several adjustable length fixing straps, which are used to surround and fix the torso of large experimental animals.

[0012] Furthermore, the front and rear ends of the operating platform are each equipped with several lassos.

[0013] Furthermore, the lasso adopts a slide rail structure. One end of the lasso is mounted in a slide rail manner at the four corners of the operating table and its fixed position can be adjusted according to the size of the experimental animal. The other end of the lasso includes a slider and a lasso body. The slider is connected to the lasso body to adjust and fix the position of the experimental animal's limbs.

[0014] Furthermore, the multi-axis control unit is used to adjust the height and tilt angle of the operating table to cooperate with the radiofrequency treatment system to perform radiofrequency treatment operations on experimental animals from different positions.

[0015] Furthermore, the radio frequency control unit includes a generation circuit module, a data monitoring module, and an energy control module; The radio frequency output terminal of the generating circuit module is electrically connected to the radio frequency probe and provides an energy source for the radio frequency therapy system; the data monitoring module is electrically connected to the monitoring feedback system and is used to receive the collected vital sign signals; the data monitoring module is electrically connected to the energy control module and transmits the monitoring signal to the energy control module; the energy control module controls the output power parameters of the generating circuit module according to the monitoring signal to achieve safety and stability control of the radio frequency output.

[0016] Furthermore, the generating circuit module is used to generate radio frequency energy and serve as a radio frequency energy output terminal to provide an energy source for the entire radio frequency therapy system; The data monitoring module is used to collect vital signs signals from the monitoring feedback system and perform real-time monitoring and analysis, and transmit the analysis results to the energy control module; The energy control module is used to assess whether the current radiofrequency output status is within a preset safe treatment range after receiving the analysis results from the data monitoring module, and to automatically adjust the radiofrequency output parameters to ensure the safety and stability of the radiofrequency output power.

[0017] Furthermore, the generating circuit module consists of a DC / AC circuit, an MCU circuit, and an FPGA circuit; wherein, the FPGA circuit is a hardware circuit used to ensure the real-time control of the radiofrequency therapy system.

[0018] Compared with the prior art, the present invention has the following beneficial effects: Firstly, this novel intelligent radiofrequency ablation device for animal experiments organically integrates three major systems: radiofrequency ablation, monitoring feedback, and an operating platform. This achieves intelligent regulation and real-time monitoring feedback closed-loop control of radiofrequency energy output. Compared to traditional manually controlled radiofrequency devices, this intelligent system can automatically adjust the radiofrequency power based on the real-time vital signs of the experimental animal, significantly improving the safety and effectiveness of radiofrequency ablation. Simultaneously, the stable and adjustable operating platform ensures reliable animal fixation and precise operation during the experiment, thereby improving the overall success rate of radiofrequency ablation in animal experiments. The integrated design of each subsystem makes experimental operation simpler and more efficient. Experimenters only need to fix the animal and set the parameters; the system can automatically complete monitoring and power adjustment without frequent manual intervention, reducing operational difficulty and workload. This intelligent operating platform greatly facilitates application in different experimental scenarios, improving experimental efficiency and data repeatability.

[0019] Secondly, the radiofrequency probe of this invention is available in various specifications, including needle-shaped, rod-shaped, and spherical, allowing for flexible selection based on different experimental needs and target tissue locations, thus enhancing the system's adaptability to ablation of tissues of different sizes and depths. The pulsed and continuous radiofrequency output modes, along with a wide frequency range of 200kHz to 5MHz, enable the system to be used for both precise heating control (pulsed mode) and continuous ablation. The heating frequency can be optimized for different tissue characteristics, improving the targetedness and effectiveness of radiofrequency treatment. The probe's built-in monitoring sensors ensure safety and accuracy. The integrated miniature ultrasound probe provides real-time imaging guidance, allowing researchers to monitor the target tissue position and its changes during ablation, achieving precise positioning and monitoring. The fiber optic temperature sensor provides real-time and accurate monitoring of the target tissue temperature, enabling timely temperature feedback from the ablation area and preventing tissue damage from overheating. This "integrated" probe design significantly improves the safety and controllability of the radiofrequency ablation process.

[0020] Thirdly, the robotic arm of this invention has multiple degrees of freedom of rotation, which can accurately deliver the radiofrequency probe to the target site of the experimental animal from multiple angles. Compared with manually holding the probe, the robotic arm provides more stable positioning and higher repeatability, reducing human positioning errors and the number of repeated adjustments. This makes the ablation needle insertion more accurate, ensuring that the radiofrequency energy is concentrated on the target tissue, improving the ablation effect and reducing interference with surrounding healthy tissues.

[0021] Fourth, the coordinated control of this invention exhibits high stability. Under the unified control of the radiofrequency control unit, the probe and robotic arm work together to automatically complete preheating, ablation, and other procedures. The coordinated operation of each component avoids the asynchrony problems that may arise from individual manual operation, ensuring precise synchronization between the radiofrequency output and the robotic arm's movement, thus improving the stability and consistency of the treatment process. This automatic coordinated operation mechanism also reduces the operational burden on experimental personnel and enhances the convenience and reliability of the experimental procedure.

[0022] Fifth, the monitoring and feedback system of this invention periodically collects vital signs parameters (such as heart rate, blood pressure, and body temperature) of experimental animals through a monitoring instrument and electrode leads, and feeds them back to the radio frequency control unit in real time, enabling the system to promptly detect changes in the animal's condition. When abnormal vital signs are detected, the control unit can quickly adjust the radio frequency output power or working duration to avoid over-ablation or safety accidents caused by abnormal animal vital signs, thus providing an extra layer of safety for experimental animals. The adaptive power adjustment is highly accurate, adjusting the radio frequency output based on real-time vital sign feedback, making the radio frequency treatment process more precise and personalized. When vital signs indicate that the animal has entered a stress state, the system can temporarily slow down or reduce the radio frequency power; conversely, when the animal's vital signs are stable and the target tissue tolerates it well, the power can be output as planned. This adaptive regulation helps to achieve sufficient and appropriate ablation of the target tissue while ensuring animal safety, improving the reliability and repeatability of experimental data.

[0023] Sixth, the operating table of this utility model with its sliding plate structure allows for adjustment of the platform area according to the size of the experimental animal. Combined with multiple adjustable-length fixing straps, it can firmly secure the torso of large experimental animals as well as small and medium-sized animals. Compared to fixed-size platforms, the adjustable area design makes this system suitable for different types and sizes of experimental animals, offering greater versatility and allowing experimental units to save equipment costs and flexibly conduct various animal experiments. The multi-point fixing provides strong stability. Multiple sets of sliding rail-type lassos at the front and rear of the operating table can be freely adjusted in position to fix the limbs according to the animal's size. The combination of fixing straps and lassos achieves comprehensive and stable fixation of the experimental animal's torso and limbs, preventing violent struggles during anesthesia recovery or stimulation, and avoiding needle deviation or experimental errors. This design greatly improves the stability and safety of experimental operations, ensuring that the radiofrequency probe is continuously aligned with the target area and achieves accurate and consistent ablation results. The multi-axis adjustment offers high flexibility; the multi-axis control unit can adjust the height and tilt angle of the operating table, placing the experimental animal in the optimal surgical position. This three-dimensional adjustment capability allows the radiofrequency probe to contact the target tissue from different directions at the optimal angle, facilitating radiofrequency treatment operations on various parts of the body.

[0024] Seventh, the radio frequency control unit of this utility model is divided into a generation circuit module, a data monitoring module, and an energy control module, ensuring high efficiency and reliability of system control. The generation circuit module provides a stable radio frequency energy output source, ensuring sufficient and controllable energy supply for radio frequency ablation; the data monitoring module collects and analyzes feedback data such as vital signs in real time, providing a basis for power adjustment; the energy control module performs fine control of the radio frequency output based on a multi-parameter regulation algorithm. This modular design improves the stability of system operation, facilitates maintenance and upgrades, and makes the control process clearer and more controllable.

[0025] In summary, the operating platform system of this invention's intelligent radiofrequency therapy device for animal experiments can be adjusted according to the size of the experimental animal, making it suitable for radiofrequency experiments on animals of all sizes and possessing a certain degree of species universality. The monitoring and feedback system can monitor the vital signs of the experimental animal in real time and transmit the biological signals to the radiofrequency control unit, achieving intelligent feedback and exhibiting high safety and stability. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of an intelligent radiofrequency therapy device for animal experiments according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the radio frequency control unit according to an embodiment of the present utility model; In the diagram, 1-RF probe, 2-robotic arm, 3-RF control unit, 4-monitor, 5-electrode wire, 6-operating table, 7-fixing strap, 8-multi-axis control unit, 9-lasso, 10-generating circuit module, 11-data monitoring module, 12-energy control module. Detailed Implementation

[0027] The following examples illustrate the implementation of this utility model in detail, but they do not constitute a limitation on this utility model and are merely illustrative. Furthermore, explaining the advantages of this utility model will make it clearer and easier to understand.

[0028] like Figure 1 The diagram shows an intelligent radiofrequency ablation device for animal experiments according to this utility model, comprising a radiofrequency ablation system, a monitoring and feedback system, and an operating platform system. The radiofrequency ablation system consists of a radiofrequency probe 1, a robotic arm 2, and a radiofrequency control unit 3, used to intelligently regulate the radiofrequency power to perform radiofrequency ablation on experimental animals. The monitoring and feedback system consists of a monitor 4 and electrode leads 5, used to periodically monitor vital signs parameters of experimental animals such as heart rate, blood pressure, respiration, and body temperature, and to feed these vital signs parameters back to the radiofrequency control unit 3. The operating platform system consists of an operating table 6, a fixing strap 7, a multi-axis adjustment unit 8, and a lasso 9, used to fix experimental animals and adjust the position and angle of the operating table 6 through the multi-axis adjustment unit 8 to cooperate with the radiofrequency ablation system for experimental operations.

[0029] The radiofrequency probe 1 comes in various sizes, including needle-shaped, rod-shaped, and spherical, suitable for different body shapes and body parts. The probe 1 incorporates a miniature ultrasonic probe and a fiber optic temperature sensor, and features pulse and / or continuous radiofrequency output in a frequency range of 200kHz to 5MHz. The robotic arm 2 has several rotating axes, with adjacent axes connected by a movable rotational connection. Preferably, it has one horizontal rotating axis (360 degrees), three vertical rotating axes (180 degrees), and one end-effector rotating axis (360 degrees). The robotic arm 2 is used to deliver the radiofrequency probe 1 to the target area of ​​the experimental animal at multiple angles and completes the radiofrequency treatment operation under the control of the radiofrequency control unit 3, achieving a positioning accuracy of 1.0mm. The control signal output of the radiofrequency control unit 3 is connected to the control signal input of both the radiofrequency probe 1 and the robotic arm 2. The radiofrequency control unit 3 supports both manual and fully automatic operation, and coordinates the operation of the radiofrequency probe 1 and the robotic arm 2 with the cooperation of the monitoring feedback system and the operating platform system.

[0030] The monitor 4 is connected to the body surface of the experimental animal via electrode wires 5. The data output terminal of the monitor 4 is connected to the data input terminal of the radio frequency control unit 3. The monitor 4 is used to collect vital signs parameters such as heart rate, blood pressure, respiration, and body temperature of the experimental animal at regular intervals, and transmit the vital signs parameters to the radio frequency control unit 3 so as to adjust the radio frequency output power and working time according to the vital signs parameters.

[0031] The operating table 6 has a sliding plate structure. To allow the platform area to be adjusted according to the size of the experimental animal, several adjustable length fixing straps 7 are provided on one side of the operating table 6 for wrapping around and fixing the torso of large experimental animals. For example, locking buckles for fixing straps 7 are provided on both sides of the operating table 6. Hooks that cooperate with the locking buckles are provided at both ends of the fixing straps 7. The two ends of the fixing straps 7 are detachably connected to the locking buckles through the hooks.

[0032] The operating table 6 has several lassos 9 at its front and rear ends, preferably two large and two small. The lassos 9 employ a slide rail structure, with one end mounted as a slide rail at the four corners or around the perimeter of the operating table 6, allowing for adjustment of their position according to the size of the experimental animal. The other end of the lasso 9 includes a slider and a lasso body, with the slider connected to the lasso body to adjust and fix the position of the experimental animal's limbs. For example, the lassos 9 are mounted at the four corners of the operating table 6 using a slide rail structure, with a straight slide rail at each corner and a slider installed inside each lasso. The slider can move along the slide rail in the front-back direction and is fixed in position by a threaded locking device. The experimenter can move the slider by loosening the locking screws on the slide rail, adjusting the positioning distance of the lasso at the edge of the platform to accommodate the spacing of the limbs of animals of different sizes. The lasso body is preferably a loop made of flexible webbing or rope, with one end connected to the slider and the other end passing through an adjusting buckle on the slider to form a variable-sized loop. By connecting the slider to the lasso body, the operator can pull the lasso to adjust the diameter of the loops, then loop the animal's limbs (such as the ankle or wrist) into the loops and tighten them. Furthermore, the adjusting buckle on the slider can use a toothed snap or a spring-loaded clamping mechanism to automatically lock after the lasso is tightened, preventing loosening. Finally, tighten the slide rail locking screw to fix the slider in the appropriate position on the slide rail. Its working principle is to first adjust the lasso position to align with the animal's limb using the slide rail slider, then tighten the loops to fix the limb, achieving rapid positioning and secure fixation. In use, the operator first adjusts the slider position according to the animal's body size, loops the lasso onto the animal's limbs and tightens each loop, then locks the slider position to complete the limb fixation. After the experiment, simply loosen the adjusting buckle and slide rail lock to quickly release the animal's limbs. In addition, threaded locking, spring snaps, or other mechanical locking elements can be selected as needed to achieve stable fixation of the experimental animal's limbs. Through these structural designs, the experimental platform's adaptability to animals is enhanced. At the same time, by combining the restraints of the torso with the fixation straps 7, multi-point fixation of the experimental animal's whole body can be achieved, thereby significantly improving the safety and stability of radiofrequency therapy experiments.

[0033] The multi-axis adjustment unit 8 is used to adjust the height and tilt angle of the operating table 6 to coordinate with the radiofrequency therapy system for radiofrequency treatment of experimental animals from different angles. The multi-axis adjustment unit 8 is installed entirely below the operating table 6 and is securely connected to the base frame. The multi-axis adjustment unit can be equipped with a height adjustment mechanism and a tilt adjustment mechanism. The height adjustment mechanism can be implemented using an electric push-rod type lifting column structure or a screw-driven lifting platform. For example, several electric lifting columns can be installed at the center of the bottom of the operating table, with a DC motor driving the internal screw to rotate, thereby pushing the telescopic sleeve to move up and down, allowing the operating table 6 to rise and fall smoothly within a certain height range. For stability, the bottom of the lifting mechanism is fixed to the base, and the top is connected to the operating table via a universal hinge to accommodate subsequent tilting movements. The tilt adjustment mechanism can be implemented using an electric rotary joint or a push-rod tilting structure. For example, a set of hinges can be installed at the connection between the operating table 6 and the lifting column, allowing the operating table to rotate and tilt left and right or forward and backward relative to the lifting mechanism. On the side corresponding to the hinge, a set of electric actuators or small linear actuators is installed, one end hinged to the base and the other end hinged to the bottom edge of the operating table. When the actuator extends or retracts, the operating table tilts around the hinge axis. By controlling the actuator stroke, the operating table can be precisely adjusted from a horizontal position to the required tilt angle (e.g., a maximum tilt angle of 30°, with the specific angle range designed according to experimental requirements). The tilt adjustment mechanism can be driven by a control unit, equipped with position sensors and limit switches to ensure that the tilt angle is controllable and does not exceed the safe range. If necessary, a set of tilt adjustment mechanisms can be installed on each of the left and right sides of the operating table to achieve tilt adjustment in both the lateral and longitudinal directions, thereby obtaining more flexible multi-axis positioning capabilities.

[0034] like Figure 2 As shown, the radio frequency control unit 3 includes a generation circuit module 10, a data monitoring module 11, and an energy control module 12. The generation circuit module 10 generates radio frequency energy and serves as the output terminal, providing an energy source for the entire radio frequency therapy system. The data monitoring module 11 collects vital sign signals from the monitoring feedback system and performs real-time monitoring and analysis, transmitting the analysis results to the energy control module 12. The energy control module 12 employs a parameter control method based on three dimensions: interference level S, sedimentation influence SID, and instantaneous power value Pt. After receiving the analysis results from the data monitoring module 11, it assesses whether the current radio frequency output state is within the preset safe treatment range and automatically adjusts the radio frequency output parameters to ensure the safety and stability of the radio frequency output energy. The generation circuit module 10 consists of a DC / AC circuit, an MCU circuit, and an FPGA circuit. The FPGA circuit is a hardware circuit used to ensure the real-time control of the radio frequency therapy system and uses the set signal output by the DC / AC circuit as a judgment condition to detect abnormal signals in the radio frequency output signal.

[0035] The formula for calculating the degree of interference S is: S = |T1 - T2| × △t In the formula, T1 represents the preset target temperature value, T2 represents the temperature value at the end of preheating, and Δt represents the time taken from the start of preheating to the end of preheating.

[0036] The formula for calculating the Settlement Impact Degree (SID) is: SID= In the formula, S represents the degree of temperature disturbance of the target tissue during the preheating stage, K1 represents the slope of the fitted line of all temperature values ​​before the temperature inflection point appears during the preheating stage, and K2 represents the slope of the fitted line of all temperature values ​​after the temperature inflection point appears during the preheating stage.

[0037] The formula for calculating the instantaneous power value Pt is: Pt = P0 + ΔP × norm (SID × Ct) In the formula, Pt represents the instantaneous power value at time t during radiofrequency treatment, P0 represents the first instantaneous power value during actual radiofrequency treatment, ΔP is the preset power adjustment amount, norm() represents the normalization function, SID represents the sedimentation effect of the target tissue, and Ct represents the ablation intervention degree at time t.

[0038] The present invention discloses a control method for an intelligent radiofrequency ablation device for animal experiments, comprising the following steps: S1: Connect the monitor 4 to the experimental animal via the electrode wire 5, and acquire the vital signs parameters of the experimental animal in real time, and feed back the vital signs parameters to the radio frequency control unit 3; S2: Control the robotic arm 2 to position the radio frequency probe 1 to the target tissue of the experimental animal and perform radio frequency preheating treatment on the target tissue; S3: Based on the changes in target tissue temperature during the preheating stage, calculate the degree of disturbance S of target tissue temperature change to characterize the degree of deviation of the actual target tissue temperature from the preset target temperature. S4: When the target tissue temperature reaches an inflection point during the preheating stage, obtain the slope K1 of the fitted line of all temperature values ​​before the inflection point of the preheating stage and the slope K2 of the fitted line of all temperature values ​​after the inflection point of the preheating stage, and calculate the sedimentation influence degree SID of the target tissue. S5: Determine the ablation intervention degree Ct during radiofrequency treatment based on the interference degree S, the sedimentation influence degree SID, and the vital sign parameters provided by the monitoring feedback system; S6: Dynamically adjust the output power during radiofrequency treatment based on the sedimentation impact degree (SID) and ablation intervention degree (Ct).

[0039] Example: This embodiment uses a rabbit with a subcutaneous tumor as an example, and the specific operation method of the intelligent radiofrequency ablation device for animal experiments includes: The anesthetized rabbit with a subcutaneous tumor was placed in a prone position on the operating table 6. The lengths of the two fixation straps 7 were adjusted and wrapped around the rabbit's chest and abdomen to fix the trunk. The lasso 9 was adjusted to fit the length of the rabbit's limbs and then put into the ankle joint for fixation. The multi-axis control unit 8 was activated and the operating table was adjusted to a 30° lateral tilt position to facilitate exposure of the subcutaneous tumor on the back.

[0040] The electrode leads 5 of the monitor 4 were connected to the rabbit's chest for electrocardiogram leading, rectal insertion to measure anal temperature, and auricular artery clamping to obtain blood oxygen parameters.

[0041] Select a needle-shaped radiofrequency probe 1 based on the size of the tumor (e.g., 2cm in diameter), install it on the end gripper of the robotic arm 2, and calibrate the coordinate mapping relationship between the probe and the robotic arm.

[0042] Enter the following parameters on the RF control unit 3 interface: initial power 30W, target temperature 85℃, safety thresholds are heart rate <300 beats / min and body temperature <39.5℃.

[0043] The robotic arm 2 is moved to a position 1 cm above the tumor target under manual operation, and the needle-shaped radiofrequency probe 1 is punctured to the center of the tumor at a speed of 10 mm / s.

[0044] The temperature rises and is maintained at 30W for 60 seconds. The monitor 4 displays the temperature curve of the tumor area in real time. When the core area reaches 85℃, the temperature signal is transmitted to the energy control module through the monitoring feedback system, and the power is automatically reduced to 15W and maintained for 120 seconds.

[0045] After treatment, robotic arm 2 withdrew from the probe at a speed of 5 mm / s, released the lasso 9 and the fixation strap 7, and transferred the rabbit to the resuscitation box. The experiment was then completed.

[0046] The above are merely specific embodiments of this utility model. It should be noted that any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Any other aspects not described in detail are prior art.

Claims

1. An intelligent radiofrequency ablation device for animal experiments, characterized in that: include: The radiofrequency therapy system consists of a radiofrequency probe (1), a robotic arm (2), and a radiofrequency control unit (3); The monitoring feedback system consists of a monitor (4) and electrode wires (5). The monitor (4) is connected to the experimental animal through the electrode wires (5) to monitor the vital signs parameters of the experimental animal and transmit them to the radio frequency control unit (3). The operating platform system consists of an operating table (6) and a multi-axis control unit (8). The multi-axis control unit (8) is used to adjust the position and angle of the operating table (6). The operating table (6) is equipped with a fixing strap (7) and a lasso (9) for fixing experimental animals.

2. The device as described in claim 1, characterized in that: The radio frequency probe (1) has a built-in miniature ultrasonic probe and fiber optic temperature sensor. The radio frequency output mode of the radio frequency probe (1) includes pulse mode and / or continuous mode, and the output frequency range is 200kHz to 5MHz.

3. The device as described in claim 1, characterized in that: The radio frequency probe (1) is needle-shaped, rod-shaped, or spherical.

4. The device as described in claim 1, characterized in that: The robotic arm (2) has several rotating axes, and there is a movable rotating connection between two adjacent rotating axes.

5. The device as described in claim 1, characterized in that: The control signal output terminal of the radio frequency control unit (3) is connected to the control signal input terminal of the radio frequency probe (1) and the robotic arm (2), respectively.

6. The device as described in claim 1, characterized in that: The monitor (4) is connected to the surface of the experimental animal via electrode wires (5), and the data output terminal of the monitor (4) is connected to the data input terminal of the radio frequency control unit (3).

7. The device as described in claim 1, characterized in that: The side of the operating table (6) is provided with several adjustable length fixing straps (7), which are used to wrap around and fix the torso of large experimental animals.

8. The device as described in claim 7, characterized in that: The front end and / or rear end of the operating table (6) are each provided with a number of lassos (9).

9. The device as described in claim 8, characterized in that: One end of the lasso (9) is mounted in a sliding rail manner at the four corners of the operating table (6), and the other end of the lasso (9) includes a slider and a lasso body. The slider is connected to the lasso body to adjust and fix the position of the experimental animal's limbs.

10. The device according to any one of claims 1 to 9, characterized in that: The radio frequency control unit (3) includes a generation circuit module (10), a data monitoring module (11), and an energy control module (12); the radio frequency output terminal of the generation circuit module (10) is electrically connected to the radio frequency probe (1), and the data monitoring module (11) is electrically connected to the monitoring feedback system; the energy control module (12) is electrically connected to the data monitoring module (11); the generation circuit module (10) is composed of a DC / AC circuit, an MCU circuit, and an FPGA circuit.

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