CN111956960A - Dynamic positioning device of high-intensity focused ultrasound treatment system - Google Patents

Abstract

The invention discloses a dynamic positioning device for a high-intensity focused ultrasound treatment system, comprising a flat plate rotating mechanism and a three-circle cantilever mechanism. The plate rotation mechanism includes a steering mechanism around the X-axis direction and a steering mechanism around the Y-axis direction; the three-circle cantilever mechanism includes a three-axis moving mechanism of X', Y', and Z'. The plate is rotated through the plate connecting body to form an arc-shaped mechanism; in the relative vertical direction, the rotation in the vertical direction can be realized to form an arc-shaped mechanism in the vertical direction; at the same time, the three-round cantilever mechanism is controlled by three motors respectively. The spatial displacement of the connected part within the adjustable range. The space movement of the two arc-shaped mechanisms and the three-circle cantilever generated by the rotation of the flat plate can realize the smooth operation of the dynamic positioning device during the treatment process, and at the same time improve the positioning accuracy.

Description

A dynamic positioning device for high-intensity focused ultrasound therapy system

technical field

The invention relates to a dynamic positioning device, in particular to a dynamic positioning device for a high-intensity focused ultrasound therapy system.

Background technique

High-intensity focused ultrasound therapy system is a complex system integrating positioning, focusing, imaging and centralized control. During the treatment, the sound wave energy emitted by the ultrasound source is focused in different ways, and the focused ultrasound is directed to the diseased tissue of the human body. Outside the irradiated focal area, the rest of the tissue cells are basically not damaged by the impact of focused ultrasound.

Among them, the dynamic positioning system is a combination of ultrasound and robotics, with a complex structure, which not only needs to meet the functional requirements of the system, but also has a certain accuracy. The high-intensity focused ultrasound has a small target and high intensity. There are many important organs in the human body. In order to avoid damage to normal tissues and improve the treatment efficiency, it is necessary to precisely locate the high-intensity transducer of the treatment system to the tumor site according to the image processing results. .

During the positioning process of the treatment, the patient is fixed on the treatment bed. If the treatment mechanism is also relatively fixed, and then the treatment is carried out, the fixed position of the human body during treatment is limited, so the treatment site is very limited, and the patient is placed in a relatively fixed position. Fixed, it has a greater impact on the patient's own spirit and psychology. Therefore, through the acquisition and registration of images of the tumor, and then through the precise mechanical motion positioning control, the transducer is guided to move to achieve accurate and effective treatment and monitoring.

The overall structure of the current dynamic positioning system is roughly divided into three parts, the yaw mechanism on the upper layer: let the trajectory of the focus form a zone curve; the rotation mechanism on the middle layer: rotate the arc curve formed by the yaw by 180° around the center of the curve, The arc can form a spherical crown surface; the lower layer is a lifting mechanism: the formed spherical crown surface is moved up and down to form two cylinders whose bottom surfaces are spherical crown surfaces. Due to the combination of rotation and yaw, the entire mechanism cannot always be aligned with the diseased part for detection when it moves. During rotation, the angle change will cause difficulty in focusing, and the coordination between the rotation mechanism and the yaw mechanism is poor, and the accuracy of the entire dynamic positioning mechanism is too low. .

The motion device in the high-intensity focused ultrasound tumor scanning treatment system described in Chinese Patent 98100283.8 is composed of three-dimensional Cartesian coordinates and one-dimensional or two-dimensional rotating coordinates. During the treatment, the patient is not completely horizontal on the treatment bed, which may There is an included angle with the axis of the bed, and the cross-section of the tumor is generally a fan-shaped structure.

Therefore, a device is required so that the focal point emitted by the transducer can form an arc surface, and the device in the prior art cannot achieve this performance.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a dynamic positioning device for a high-intensity focused ultrasound treatment system.

The purpose of this invention is to realize through the following technical solutions:

The dynamic positioning device of the high-intensity focused ultrasound treatment system of the present invention includes an upper flat plate, a middle flat plate, and a lower flat plate, and arched brackets are respectively fixed on the middle flat plate and the lower flat plate, and a bracket is fixed at the lower part of the dome of the arched bracket a connecting body, the lower parts of the upper flat plate and the middle flat plate are respectively provided with a flat plate connecting body;

The plate connecting body of the upper plate and the bracket connecting body of the middle plate and the plate connecting body of the middle plate and the bracket connecting body of the lower plate are respectively connected by a plate rotation mechanism. The structure is the same and its rotating pairs are perpendicular to each other;

The lower flat plate is fixed on a three-circle cantilever device.

It can be seen from the above technical solutions provided by the present invention that the dynamic positioning device for the high-intensity focused ultrasound treatment system provided by the embodiment of the present invention adopts a flat plate rotation mechanism and a three-circle cantilever device to dynamically position the treatment system, and the flat plate rotation mechanism can rotate around the treatment system. A small range of rotation is performed in the X and Y axis directions to form an arc-shaped mechanism, so that the focal point emitted by the device installed on the plate rotating mechanism can form an arc surface; the three-circle cantilever device can be realized in X', Y', Z' The axial direction of the shaft produces limited movement, so that the entire device can achieve spatial movement within the adjustable range; through the three-circle cantilever device and the plate rotation mechanism, the movement within the spatial range can be achieved, and the resulting arc-shaped mechanism improves the entire treatment system. positioning accuracy.

Description of drawings

1 is a schematic front view of the structure of a dynamic positioning device for a high-intensity focused ultrasound therapy system provided by an embodiment of the present invention;

2 is a side view of a dynamic positioning device for a high-intensity focused ultrasound therapy system provided by an embodiment of the present invention;

Fig. 3 is the structure diagram of the plate rotating mechanism in the embodiment of the present invention;

FIG. 4 is a structural diagram of a three-circle cantilever device in an embodiment of the present invention.

Detailed ways

The embodiments of the present invention will be described in further detail below. Contents that are not described in detail in the embodiments of the present invention belong to the prior art known to those skilled in the art.

The preferred specific embodiment of the high-intensity focused ultrasound therapy system dynamic positioning device of the present invention is:

It includes an upper flat plate, a middle flat plate, and a lower flat plate. An arch bracket is fixed on the middle flat plate and the lower flat plate, respectively, and a bracket connecting body is fixed at the lower part of the dome of the arched bracket. The lower part of the upper flat plate and the middle flat plate are respectively with a plate connector;

The plate connecting body of the upper plate and the bracket connecting body of the middle plate and the plate connecting body of the middle plate and the bracket connecting body of the lower plate are respectively connected by a plate rotation mechanism. The structure is the same and its rotating pairs are perpendicular to each other;

The lower flat plate is fixed on a three-circle cantilever device.

The plate rotating mechanism includes a shaft on which a large gear is fixed, two ends of the shaft are mounted on the bracket connecting body through bearings, and the plate connecting body is fixedly connected with the shaft;

A stepper motor is fixed on the middle plate and the lower plate respectively through a mounting plate, a pinion gear is mounted on the output shaft of the stepper motor, and the pinion gear is meshed with the large gear.

The three-circle cantilever device includes a connecting arm, an X' main body, a Y' main body and a Z' main body, the lower flat plate is fixed on the upper end of the connecting arm, and the lower end of the connecting arm is installed in the longitudinal direction of the Y' main body. On the chute, the Y' body is mounted on the vertical chute of the Z' body, and the Z' body is mounted on the lateral chute of the X' body.

The lower part of the Z' main body is fixed on the sliding seat through the fixing plate and the reinforcing plate, and the sliding seat is installed in the sliding groove of the X' main body.

The upper flat plate, the middle flat plate and the lower flat plate are made of aluminum alloy materials.

Two rectangular grooves are formed in the interference part between the upper flat plate and the arched bracket.

The bracket connecting body is welded on the arched bracket, and the bracket connecting body is provided with a bearing installation hole and is equipped with a bearing end cover and an inner end cover.

The bull gear is keyed to the shaft.

The shaft is rigidly connected to the plate connector.

The X' main body, the Y' main body and the Z' main body are respectively provided with driving motors, the displacement sensors are respectively installed on the sides of the chute of the X' main body, the Y' main body and the Z' main body, and the corresponding sliding seat is equipped with a sensor piece.

The dynamic positioning device of the high-intensity focused ultrasound treatment system of the present invention mainly adopts a flat plate rotation mechanism and a three-circle cantilever device to dynamically position the treatment system. The plate rotating mechanism can rotate in a small range around the X and Y axes, and the formed arc mechanism enables the focus emitted by the device installed on the plate rotating mechanism to form an arc surface; the three-circle cantilever device can be realized at X', The axial directions of the Y' and Z' axes produce limited movement, so that the entire equipment can achieve spatial movement within the adjustable range; through the three-round cantilever device and the plate rotation mechanism, the movement within the spatial range can be achieved, resulting in an arc-shaped mechanism. The positioning accuracy of the entire treatment system is improved.

Specific examples:

1 to 4, a dynamic positioning device for a high-intensity focused ultrasound therapy system provided by the present invention includes: an upper flat plate 8, a middle flat plate 7, a lower flat plate 19, an arched bracket 6, a bracket connecting body 18, a large gear 14. Shaft 11, plate connecting body 9, connecting arm 20, stepping motor 10, X' main body 24, Y' main body 21, Z' main body 22, sliding seat 3, fixing plate 4, reinforcing plate 5, induction sheet 2, Displacement sensor 1 , mounting plate 12 , bearing end cover 17 , inner end cover 16 .

The upper flat plate 8, the middle flat plate 7, and the lower flat plate 19 are used for support and fixation in the entire flat plate rotating mechanism; the upper flat plate 8 and the middle flat plate 7 are provided with two rectangular grooves to prevent the flat plate rotating mechanism from deflecting. Interference occurs between the upper plate 8 or the middle plate 7 and the arched support 6 . Since the lower plate 19 does not rotate, no slotting is required.

The arched bracket 6 is welded on the middle plate 7 and plays a supporting role in the entire plate rotation mechanism.

The bracket connecting body 18 is welded on the arched bracket 6, and the bracket connecting body 18 is provided with a hole, and the rotation of the shaft 11 on the bracket connecting body 18 is realized through a bearing.

The bearing end cover 17 and the inner end cover 16 are part of the bearing and are used to match the movement of the shaft 11 .

The large gear 14 is fixed with the shaft 11 through the key 15. The large gear 14 and the shaft 11 are fixed and unchanged. Driven by the stepping motor 10, the pinion 13 is first driven to rotate, and the pinion 13 is used as a transmission wheel to drive the large gear. With the rotation of the gear 14, since the large gear 14 is coaxially 11 fixed together, the shaft 11 also rotates at this time.

The shaft 11 is rigidly connected with the plate connecting body 9, and the two are fixed and unchanged. At the same time, the plate connecting body 9 is fixed on the upper plate 8, and is driven by the stepping motor 10 to drive the rotation of the shaft 11, while being fixed on the shaft. The plate connecting body 9 on 11 rotates accordingly, so the purpose of rotating the upper plate 8 is achieved through the plate connecting body 9 .

The mounting plate 12 acts as a fixed support for the stepping motor 10 , and is fixedly installed on the middle plate 7 or the lower plate 19 .

Further, the lower plate 19 does not have a rectangular slot, and the mechanical structure used to rotate the middle plate 7 is the same as the rotation mechanism of the upper plate 8, but the relative positions of the two mechanisms are vertical. The plate connecting body fixed on the shaft is driven to rotate by the two driving motors respectively, so that the plate rotating mechanism can rotate in a small range around the X and Y axis directions.

Further, the connecting arm 20 is used to connect the plate rotating mechanism and the three-circle cantilever device, so that the overall system can meet the required height during operation, while avoiding mutual interference between the plate rotating mechanism and the three-circle cantilever device.

Further, the X' main body 24 is driven by a motor to give a movement in the X' direction to the device fixed on the X' main body 24; the same Y' main body 21, Z'22 main body can be given Y', Z' respectively. movement in the direction.

Further, the sliding seat 3 is mounted on the main body, and can be moved through the chute on the main body.

Further, one side of the fixing plate 4 is fixed on the sliding seat 3, and the other side is fixed with other main bodies, which play the role of a fixed connection.

Further, the reinforcing plate 5 is installed on the fixed plate between the X' main body 24 and the Y' main body 21, and plays a role of fixed support for the three-circle cantilever device.

Further, the displacement sensor 1 is installed on the X' main body 24, the Y' main body 21 and the Z' main body 22, respectively, and the induction sheet 2 is installed on the sliding seat 3, and the displacement in the X', Y', and Z' directions are respectively adjusted. Must adjust the limiting effect.

The dynamic positioning device of the high-intensity focused ultrasound treatment system adopts a flat plate rotation mechanism and a three-circle cantilever device to dynamically position the treatment system. It can provide a small range of rotation in two directions and an adjustable range of space movement, which can realize the smooth operation of the dynamic positioning device during the treatment process, and at the same time improve the positioning accuracy.

The above is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited to this. Any person skilled in the art can easily think of changes or Substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. A dynamic positioning device of a high-intensity focused ultrasound treatment system is characterized by comprising an upper flat plate (8), a middle flat plate (7) and a lower flat plate (19), wherein arch supports (6) are respectively fixed on the middle flat plate (7) and the lower flat plate (19), a support connector (18) is fixed at the lower part of the arch of each arch support (6), and flat plate connectors (9) are respectively arranged at the lower parts of the upper flat plate (8) and the middle flat plate (7);

the flat plate connector (9) of the upper flat plate (8) is connected with the support connector (18) of the middle flat plate (7), the flat plate connector (9) of the middle flat plate (7) is connected with the support connector (18) of the lower flat plate (19) through flat plate rotating mechanisms, the two flat plate rotating mechanisms have the same structure, and rotating pairs of the two flat plate rotating mechanisms are vertical to each other;

the lower flat plate (19) is fixed on the three-circumference cantilever device.

2. The dynamic positioning device of the high-intensity focused ultrasound therapy system according to claim 1, wherein the plate rotating mechanism comprises a shaft (11), a gearwheel (14) is fixed on the shaft (11), two ends of the shaft (11) are mounted on the bracket connecting body (18) through bearings, and the plate connecting body (9) is fixedly connected with the shaft (11);

a stepping motor (10) is fixed on the middle flat plate (7) and the lower flat plate (19) through a mounting plate (12), a small gear (13) is mounted on an output shaft of the stepping motor (10), and the small gear (13) is meshed with the large gear (14).

3. The dynamic positioning device of the high-intensity focused ultrasound therapy system according to claim 1 or 2, characterized in that the three-circle cantilever device comprises a connecting arm (20), an X 'main body (24), a Y' main body (21) and a Z 'main body (22), the lower flat plate (19) is fixed on the upper end of the connecting arm (20), the lower end of the connecting arm (20) is mounted on the longitudinal sliding slot of the Y' main body (21), the Y 'main body (21) is mounted on the vertical sliding slot of the Z' main body (22), and the Z 'main body (22) is mounted on the transverse sliding slot of the X' main body (24).

4. The dynamic positioning device of the high-intensity focused ultrasound therapy system according to claim 3, characterized in that the lower part of the Z 'main body (22) is fixed on the sliding seat (3) through a fixing plate (4) and a reinforcing plate (5), and the sliding seat (3) is arranged in the sliding groove (23) of the X' main body (24).

5. The dynamic positioning device of the high-intensity focused ultrasound therapy system according to claim 3, characterized in that the upper flat plate (8), the middle flat plate (7) and the lower flat plate (19) are made of aluminum alloy.

6. The dynamic positioning device of the high-intensity focused ultrasound therapy system according to claim 3, characterized in that the interference portion between the upper flat plate (8) and the arched bracket (6) is provided with two rectangular grooves.

7. The dynamic positioning device for the high-intensity focused ultrasound therapy system according to claim 3, characterized in that the bracket connecting body (18) is welded on the arched bracket (6), and the bracket connecting body (18) is provided with a bearing mounting hole and a bearing end cover (17) and an inner end cover (16).

8. The dynamic positioning device of the high-intensity focused ultrasound therapy system according to claim 3, characterized in that the large gear (14) is fixed with the shaft (11) by a key (15).

9. The dynamic positioning device of the high-intensity focused ultrasound therapy system according to claim 3, characterized in that the shaft (11) is rigidly connected with the flat plate connecting body (9).

10. The dynamic positioning device of the high-intensity focused ultrasound therapy system according to claim 3, characterized in that the X 'main body (24), the Y' main body (21) and the Z 'main body (22) are respectively provided with a driving motor, the side surfaces of the chutes of the X' main body (24), the Y 'main body (21) and the Z' main body (22) are respectively provided with a displacement sensor (1), and the corresponding sliding seats are provided with sensing plates (2).

Images