CN201959412U - Novel nuclear magnetic compatible operation mechanism for close-range particle radiotherapy - Google Patents

Abstract

The utility model discloses a novel nuclear magnetic compatibility operation mechanism for brachytherapy, which comprises a translational layer, a lifting layer, an acupuncture layer, and a lower platform, a middle platform and an upper platform arranged at intervals from bottom to top, and the translational layer includes The two slider swing mechanism installed between the lower platform and the middle platform and installed in a diagonal position between each other and the two driven slider swing mechanism installed in another diagonal position, the lifting layer is arranged on The four slider pendulum mechanisms between the middle platform and the upper platform are composed of two sets of slider pendulum mechanisms. An ultrasonic motor is installed on the upper platform. The output shaft of the ultrasonic motor is connected with a lead screw. Nuts are sheathed, and needles are connected to the nuts. This structure can assist in the completion of acupuncture surgery in the limited space of the nuclear magnetic instrument, overcome the disadvantages of untimely imaging effect and difficult trajectory planning during the operation process, and can greatly improve the accuracy, success and perfection of the operation.

Description

New MRI Compatible Surgical Mechanism for Brachytherapy

technical field

The utility model relates to the field of medical equipment, in particular to an acupuncture manipulator mechanism applied in a nuclear magnetic resonance environment.

Background technique

Currently, the mainstay of prostate surgery is minimally invasive brachytherapy. During the surgical procedure, radioactive seeds are implanted into the prostate through acupuncture for localized radiation therapy. However, most of the manual acupuncture operations have to face the shortcomings of poor precision and incapability of real-time imaging; for pre-planned trajectories, the expected effect may not be achieved due to the movement of the patient's body and the stimulation of acupuncture on organs . These problems can be well solved by means of robot-assisted or robot-handed high-precision acupuncture.

Compared with traditional X-rays and CT, magnetic resonance imaging (MRI) can avoid X-ray radiation to healthy cells, and has excellent soft tissue resolution and precise geometric characteristics, and can detect lesion areas more accurately to ensure Reasonable trajectory optimization, and more accurate judgment of the lesion, to ensure the position accuracy of implanted particles.

Contents of the invention

The purpose of the utility model is to overcome the deficiencies of the prior art, and provide a new type of NMR compatible surgical mechanism for brachytherapy, which can improve the accuracy of acupuncture surgery in a limited space and reduce the pain of patients' surgery.

The novel NMR compatible surgical mechanism for brachytherapy of the present utility model includes a translational layer, a lifting layer, an acupuncture layer, and a lower platform, a middle platform and an upper platform arranged at intervals from bottom to top, and the translational layer The first floor includes two slider swing mechanism arranged between the lower platform and the middle platform and installed at a diagonal position between each other and two driven slider swing mechanism installed at another diagonal position. The lifting layer is composed of two sets of slider swing mechanism, which are composed of four slider swing mechanism arranged between the middle platform and the upper platform. Ultrasonic motors are installed on the upper platform, and the ultrasonic motors are The output shaft is connected with a screw, the screw is covered with a nut, the two sides of the nut are respectively set on the connecting shaft, and the connecting shaft is connected with the support fixed on the upper platform , a needle is connected to the nut.

The outstanding advantages of the utility model are: it can assist in completing the acupuncture operation in the limited space of the nuclear magnetic instrument, overcome the disadvantages of untimely imaging effect and difficult trajectory planning during the operation process, and can greatly improve the accuracy of the operation and the success of the operation. and perfection.

Description of drawings

Fig. 1 is the perspective view of the novel NMR compatible operation mechanism of the utility model facing brachytherapy;

Fig. 2 is the front view of the mechanism shown in Fig. 1;

FIG. 3 is a top view of the mechanism shown in FIG. 1 .

Detailed ways

Below in conjunction with specific embodiment, and with reference to accompanying drawing, the utility model is further described:

As shown in the attached figure, the new-type nuclear magnetic compatibility surgical mechanism for brachytherapy includes a translational layer, an elevating layer, an acupuncture layer, and a lower platform 8, a middle platform 7 and an upper platform 12 arranged at intervals from bottom to top. The translation layer includes two sliding block swing rod mechanisms arranged between the lower platform and the middle platform and installed at diagonal positions to each other, and two driven slider swing rods installed at the other diagonal position mechanism to realize translation and swing in the horizontal plane, and the lifting layer is composed of two sets of slider swing mechanism, front and rear, composed of four slider swing mechanism arranged between the middle platform and the upper platform, for To achieve translation and swing in the vertical plane, an ultrasonic motor 3 is installed on the upper platform, the output shaft of the ultrasonic motor is connected to a lead screw 4, and a nut is sleeved on the lead screw. The two sides of the nut are respectively sleeved on the connecting shaft, and the connecting shaft is connected with the support fixed on the upper platform, and a needle 5 is connected to the nut to realize acupuncture movement . Each sliding swing rod mechanism includes a linear guide rail and a slider connected to the slide on the linear guide rail. The slider is connected to the cylinder and connected to one end of the swing rod through a hinge structure, and the other end of the swing rod is connected to another linear guide rail through a hinge structure. The sliders of the structure are connected.

In order to precisely control the movement of this mechanism, it can be used on a hinge shaft of the front cover slider swing rod mechanism and a hinge shaft of the hinge structure of the rear cover slider swing rod mechanism and a slider swing rod mechanism in the translation layer Encoders are connected to the hinge shafts of the hinge structure.

The working mode of the acupuncture manipulator mechanism is as follows in conjunction with the accompanying drawings:

Translational movement: by controlling the cylinder plug 9 connected to the air pump to push the slider to move along the linear guide rail 10, and then realize the swing of the translation layer swing rod 11 to achieve the swing of the upper platform of the mechanism; by controlling the cylinder piston 13 connected to the air pump Push the slider to move along the linear guide rail to realize the swing of the swing rod 14 of the translation layer, so as to achieve the swing of the upper platform of the mechanism. When the two cylinders move synchronously, the movement of the lifting platform can be realized.

Lifting movement: By controlling the cylinder 2 connected to the air pump, the piston pushes the slider to move along the linear guide rail, and then realizes the swing of the swing rod 6 on the lifting layer, so as to achieve the lifting of the mechanism with the front as the axis. In the same way, the cylinder connected to the air pump is controlled so that the piston pushes the slider to move along the guide rail, so as to realize the swing of the lifting layer swing rod 1, so as to achieve the swing of the mechanism with the rear as the axis. When the two cylinders move synchronously, the lifting of the upper platform 12 can be realized.

Acupuncture movement: through the ultrasonic motor 3, the lead screw 4 drives the surgical needle 5 to move, and the movement and force are transmitted to the needle tip to realize the acupuncture operation.

The common movement of the translation layer and the lifting layer can realize the movement of the four degrees of freedom of the mechanism, such as up and down, left and right, tilting, and swinging, so as to realize the adjustment of the spatial posture of the needle body; Thorn homework.

Claims (1)

1. A novel MRI-compatible surgical mechanism for brachytherapy, comprising a translational layer, an elevating layer, an acupuncture layer, and a lower platform, a middle platform and an upper platform arranged at intervals from bottom to top, characterized in that: The translation layer includes two slider pendulum mechanisms arranged between the lower platform and the middle platform and installed in diagonal positions with each other, and two driven slider pendulum mechanisms installed in another diagonal position, so The above-mentioned lifting layer is composed of four slider swing-rod mechanisms arranged between the middle platform and the upper platform, and two sets of slider swing-rod mechanisms. An ultrasonic motor is installed on the upper platform. The output shaft of the motor is connected with a lead screw, and a nut is set on the lead screw, and the two sides of the nut are respectively set on the connecting shaft, and the connecting shaft is connected with the support fixed on the upper platform. The seat is connected, and a needle is connected to the nut.

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