CN105125289B - minimally invasive medical robot system - Google Patents
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- CN105125289B CN105125289B CN201510623072.6A CN201510623072A CN105125289B CN 105125289 B CN105125289 B CN 105125289B CN 201510623072 A CN201510623072 A CN 201510623072A CN 105125289 B CN105125289 B CN 105125289B
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Abstract
The present invention relates to minimally invasive medical robot system and its application and the method for positioning intervening equipment.Minimally invasive medical robot system includes operating mechanism (3), adjustment mechanism (4), controlling organization (5) and man-machine interaction mechanism (1).Operating mechanism (3) includes ditrysian type protection positioning orifice plate (31), is oriented to syringe (34).The guiding syringe (34) of operating mechanism (3) can be positioned so that guiding syringe (34) falls to be protected determined by a hole in positioning orifice plate (31) on straight line in target sample point and ditrysian type.Using the minimally invasive medical robot system, it can precisely implement the Clinics and Practices to prostate cancer under image-guided.
Description
Technical field
The present invention relates to a kind of minimally invasive medical robot system, more particularly to one kind can increase recall rate, improve operation peace
Quan Xing, avoid medical cross infection the Clinics and Practices for such as prostate cancer medical robotic system.
The invention further relates to the application method of minimally invasive medical robot system, including its concrete application field and should use it to
The method for positioning intervening equipment.
Background technology
Prostate cancer is mainly in male genitourinary system, is a kind of malignant tumour, and early stage is often asymptomatic, incubation period length,
Incidence and mortality is in ascendant trend year by year.How to early diagnose and treat prostate cancer, there is important clinical meaning.Mesh
Before, the sextant Transrectal puncture biopsy collocation under clinical more guiding using real-time 2D TRUSs punctures template and carries out examination
And diagnosis.
The A of Chinese invention patent application CN 104720853 disclose a kind of automatic prostate biopsy particle of ultrasonic guidance and planted
Enter system and acupuncture treatment method.Locating module and image capture module are fixed with support platform, and before support platform
End is provided with horizontal Needle localization plate.Adjustment locating module causes cell taking gun to be placed in horizontal level, according to the space of location-plate
It is sampled one by one.
However, there is problems with similar to the conventional mould method puncture method disclosed in above patent document.
1. template helical pitch is short, deviation is big：First, relative to the length of cell taking gun/particle implanting gun used in clinic, mould
The guiding hole length of plate is shorter, easily causes cell taking gun/particle implanting gun deviations；Secondly, guiding hole site, the hole of template
Between distance can not adjust, the point of puncture for limiting cell taking gun is chosen, and 5mm focus is less than for diameter, possibly can not completely take
Sample, cause loss, false negative rate rise, or the Path selection of limitation particle implanting gun, cause to be implanted into the radiological agent of particle
Amount distribution is inconsistent with target；3rd, when cell taking gun or particle implanting gun, which run into pubis, to be stopped, nearby (cancer is occurred frequently for pubis
Area) tissue samples be difficult to gather, or be difficult to radioactive prospecting instrument to estimating position, limitation and blindness is higher.Cause
This, template may influence pathological examination result, or cause the distribution of actual radiation dosage and the plan generation deviation for being implanted into particle,
Influence radiotherapeutic effect.
2. lacking self-detection mechanism before intervention, monitoring in real time is lacked in intervention：First, when the position adjustment of locating module is complete
Finish, that is, insert biopsy needle, without checking procedure, can not judge whether the insertion position of cell taking gun or posture are accurate, if due to soft
The reasons such as part, hardware, cause locating module and/or cell taking gun posture abnormal, before cell taking gun arrives at operation receiveing person's skin surface, be
System can not detect, and may accidentally injure operation receiveing person, for example prick into urethra, cause complication etc., i.e., lack self-detection mechanism before intervention；Its
Secondary, existing imaging technique is mostly the reconstructed modeling of 2D sequences for completing all scannings, obtains static 3D images as in art
Guiding, loses real-time, after cell taking gun/particle implanting gun enters in vivo, it is difficult to accurately obtain its depth, angle, track
Etc. information, the experience and level of skill of patient are largely relied on, maloperation, accidentally injures the increase of other organ possibilities, that is, is situated between
Enter the monitoring in real time of middle shortage.
3. maintenance cost is high：In existing equipment, due to the inherent characteristicses of its structure, the blood of operation receiveing person may be flow backwards into setting
It is standby to pollute, increase the maintenance cost of hospital, or even influence functions of the equipments and procedure.
The content of the invention
In view of this, the technical problems to be solved by the invention are to overcome the one or more in aforementioned drawback.
According to an aspect of the present invention, there is provided a kind of minimally invasive medical robot system.The minimally invasive medical robot system
Including：Operating mechanism, adjustment mechanism, controlling organization and man-machine interaction mechanism.Operating mechanism is positioned on adjustment mechanism, and is adjusted
Complete machine structure is positioned on controlling organization.Operating mechanism further comprises：Ditrysian type protection positioning orifice plate, it is oriented to syringe, ultrasound spy
Head, motion of ultrasound probe mechanism, pedestal and guiding syringe motion control mechanism.It is oriented to syringe motion control mechanism slideably
On pedestal.Ditrysian type protection positioning orifice plate is removably mounted on the anterior bent plate of pedestal, motion of ultrasound probe machine
Structure is slidably mounted on the upper support board of pedestal, and ultrasonic probe can be held on the motion of ultrasound probe mechanism
In.Adjustment mechanism is arranged to adjust the horizontal level of operating mechanism according to the position of patient and/or the position of operating table, erect
Straight position and/or luffing angle.Man-machine interaction mechanism is configured as showing the real-time imaging that operating mechanism is gathered, and receives outside
Input, and be additionally configured to communicate with controlling organization, so as to be controlled by controlling organization to the component in operating mechanism
System.
According to an embodiment of the invention, being oriented to syringe motion control mechanism can include being used to install being oriented to syringe
Guiding cylinder seat.Universal joint can be connected with by being oriented at least one end of cylinder seat, the tune of the posture for aiding in being oriented to syringe
It is whole.
According to an embodiment of the invention, left controlling organization and right control can be included by being oriented to syringe motion control mechanism
Mechanism processed.Inside left controlling organization and right controlling organization and/or in the region that left controlling organization and right controlling organization are limited
The interior component for being provided with control and being oriented to the positioning of syringe.The control of left controlling organization and right controlling organization can be mutually only with motion
It is vertical, to realize the positioning to being oriented to syringe, the adjustment to its own posture and locus can be included.
Further, the one or more that the positioning of syringe includes being oriented in the following motion of syringe are oriented to：Elevating movement,
Elevating movement, left and right translational motion, horizontal revolving motion and move forward and backward.
In one embodiment, such as Lead screw transmission structure or hydraulic pressure can be included by being oriented to syringe motion control mechanism
Driving structure, the positioning of syringe is oriented to for controlling.Control guiding syringe can be configured as by being oriented to syringe motion control mechanism
Elevating movement, elevating movement, left and right translational motion, horizontal revolving motion and/or move forward and backward, and in this 5 frees degree
Motion can be separate.Move forward and backward, the direction of left and right translational motion and elevating movement can be orthogonal.
According to an embodiment of the invention, the minimally invasive medical robot system can also include being arranged on pedestal
Connector, power supply and communication for operating mechanism.
According to an embodiment of the invention, the outer upper of ditrysian type protection positioning orifice plate can be prominent structure,
Include the positioning hole of two insertions.
According to an embodiment of the invention, the bottom of the protrusion structure of ditrysian type protection positioning orifice plate can be provided with blood
Groove.
According to an embodiment of the invention, the minimally invasive medical robot system can also include external command and trigger
Device, it can be configured as sending signal so that the positioning switching for being oriented to syringe is enabled.
Further, external command trigger device may be implemented as being arranged on the pedal of controlling organization bottom.
According to an embodiment of the invention, man-machine interaction mechanism is removably mounted on controlling organization or independently set
Put.
According to an embodiment of the invention, the minimally invasive medical robot system can also include pushing hands and/or ten thousand
To wheel.Pushing hands and/or universal wheel can be configured as aiding in the transfer and/or fixation of minimally invasive medical robot system.
According to an embodiment of the invention, controlling organization, which can include, to be applied to accommodate man-machine interaction mechanism and work
The space of mechanism.
According to an embodiment of the invention, operating mechanism can coordinate cell taking gun or bar radioactive particle implanting gun to make
With.
According to another aspect of the present invention, foregoing minimally invasive medical robot system is applied in prostate biopsy or radiation
In the fields such as property seeds implanted.Therefore, the operating mechanism can be combined with the biopsy suitable for prostate cancer diagnosis or treatment
Rifle or bar radioactive particle implanting gun use.So as to, there is provided it is a kind of to gather the micro- of prostate cancer diagnosis and treatment function
Invasive procedures system.
According to a further aspect of the invention, there is provided a kind of method for positioning intervening equipment.This method includes：To foregoing work
The guiding syringe for making mechanism is positioned so that is oriented to syringe and is fallen one protected in target sample point and ditrysian type in positioning orifice plate
Determined by individual hole on straight line, intervening equipment can pass through guiding syringe to act on target sample point；Or adjustment is oriented to syringe
Positioning so that guiding syringe falls to be implanted into determined by path on straight line in radioactive particle target, and intervening equipment can be passed through and led
Target implantation path is acted on to syringe.In both the above situation, the intervention depth of intervening equipment can be by the position of guiding syringe
Put and limited.That is, the position of the locus of syringe, especially its rear end is oriented to, the intervention depth of intervening equipment can be limited,
Without extra intervening equipment depth control features.This design simplify the structure of system, avoids and sets deep-controlled portion
Part and/or its motor moved is driven spatially to conflict with miscellaneous part in system.For example, in the preoperative process of self-test of system
In or be oriented to syringe positioning in, be arranged on the depth control features at syringe rear and/or drive its move motor, can
It can be blocked by miscellaneous part, cause guiding syringe can not be adjusted to target location, posture, it is also possible to system miscellaneous part is bumped against,
Such as ultrasonic probe, cause the displacement of probe or even damage.
According to an embodiment of the invention, intervening equipment can be cell taking gun or bar radioactive particle implanting gun.
According to the embodiment of the present invention, a kind of method for protecting positioning orifice plate to be combined positioning with being oriented to syringe is proposed,
Biopsy sampling can precisely be implemented under image-guided.If the positioning for being oriented to syringe makes a mistake, it is oriented to syringe and does not fall within mesh
Mark determined by path on straight line, so the intervening equipment passed through along syringe is oriented to, will be unable to arrive at protection positioning hole according to plan
Insertion positioning hole on plate, but blocked by protection positioning orifice plate, insertion positioning hole can not be passed through and arrive at operation receiveing person's skin, from
And process of self-test of the intervening equipment before human body is intervened is realized, avoid the guide pin triggered due to failures such as hardware, softwares
Injury caused by cylinder Wrong localization to operation receiveing person, improve security, the reliability of system.Embodiments of the present invention cause
Operation technique visualizes, and improves recall rate, reduces operation receiveing person's surface of a wound, avoids medical cross infection, and reduce patient's labor
Fatigue resistance.
According to the described in detail below of this specification with reference to accompanying drawing, these and other of the various embodiments of the present invention are excellent
Point and feature all will be apparent.
Brief description of the drawings
Fig. 1 is the overall structure diagram for showing the minimally invasive medical robot system according to one embodiment of the present invention；
Fig. 2 shows the operating mechanism according to the minimally invasive medical robot system of one embodiment of the present invention relative to patient
The position of perineum and the point of puncture at its perineum；
Fig. 3 illustrates the structure of the operating mechanism according to one embodiment of the present invention；
Fig. 4 illustrates the motion of the fore-and-aft direction of the guiding syringe according to one embodiment of the present invention；
The pitching, lifting, left and right that Fig. 5 illustrates the guiding syringe according to one embodiment of the present invention are translated and rotated horizontally
The motion in direction；
Fig. 6 diagrams protect the structure of positioning orifice plate according to the ditrysian type of one embodiment of the present invention；
Fig. 7 illustrates the principle for being accurately positioned mode of " positioning hole+guiding syringe " according to one embodiment of the present invention
Figure；And
Fig. 8 shows the software control flow chart of the minimally invasive medical robot system according to one embodiment of the present invention.
Embodiment
Present disclosure is described more fully below hereinafter with reference to accompanying drawing, wherein showing the reality of present disclosure in the accompanying drawings
Apply mode.But these embodiments can be realized and should not be construed as being limited to many multi-forms it is described herein
Embodiment.On the contrary, provide these examples with so that present disclosure will be thorough and complete, and will comprehensively to
Those skilled in the art expression scope of the present disclosure.
Fig. 1 illustrates forming according to the minimally invasive medical robot system of one embodiment of the present invention with structural representation.
The minimally invasive medical robot system includes：Operating mechanism 3, adjustment mechanism 4, controlling organization 5 and man-machine interaction mechanism 1.Working machine
Structure 3 is positioned on adjustment mechanism 4, and adjustment mechanism 4 is positioned on controlling organization 5.As shown in figure 1, man-machine interaction mechanism 1 is detachable
Ground, which is arranged on, to be fixed on the column on controlling organization 5.It should be appreciated that man-machine interaction mechanism 1 can also be independently arranged.
As shown in figure 1, the minimally invasive medical robot system can also include external command trigger device 6.Under controlling organization 5
Portion is formed with external command trigger device 6.In this embodiment, external command trigger device 6 is implemented as pedal.
It will be seen from figure 1 that pushing hands 2 and 4 can also be included according to the minimally invasive medical robot system of the embodiment
Universal wheel 7.As shown in figure 1, pushing hands 2 is fixably attached to the top surface of controlling organization 5, and 4 universal wheels 7 are arranged on control machine
The lower section of structure 5.It should be appreciated that in other embodiments, pushing hands 2 can also be directly installed on the column on controlling organization 5,
Or the side of controlling organization 5.
Operating mechanism 3 can be used for the Perineal approach aspiration biopsy for realizing prostata tissue, and the implantation of radioactive particle to control
Treat.When operating mechanism 3 is used to realize the Perineal approach aspiration biopsy of prostata tissue, cell taking gun, specifically patient can be used
Hand-held cell taking gun passes through the guiding syringe (as described below) of operating mechanism 3, and manipulates cell taking gun and complete biopsy sampling.Working
When mechanism 3 is used to realize the implanted treatment of radioactive particle of prostata tissue, protection positioning orifice plate (following article institute can be pulled down
State), using particle implanting gun, specifically patient holds guiding syringe (the following article institute that particle implanting gun passes through operating mechanism 3
State), and manipulate particle implanting gun and complete seeds implanted.
As shown in Fig. 2 that schematically shows the point of puncture 8 at patient's perineum, and using minimally invasive medical machine
Device people system carry out operation when operating mechanism 3 relative to human body position.
Fig. 3 illustrates in greater detail the structure of the operating mechanism 3 according to one embodiment of the present invention.Operating mechanism 3 can
With including ditrysian type protect positioning orifice plate 31, be oriented to syringe 34, ultrasonic probe 33, motion of ultrasound probe mechanism 32, pedestal 53 with
And it is oriented to syringe motion control mechanism 37.It is oriented to syringe motion control mechanism 37 to be slidably mounted on pedestal 53, can wraps
Include left controlling organization and right controlling organization, left controlling organization with inside right controlling organization and left and right controlling organization limited
The component that control is oriented to the positioning of syringe 34 can be provided with region, wherein its space bit can be included by being oriented to the positioning of syringe 34
Put and posture.Alternatively, the connecting plate of auxiliary fixation can also be set between left controlling organization and right controlling organization,
Such as it is arranged on top or middle part between left controlling organization and right controlling organization.
Ditrysian type protection positioning orifice plate 31 is removably mounted on the anterior bent plate of pedestal 53, motion of ultrasound probe mechanism
32 are slidably mounted on the upper support board of pedestal 53, and ultrasonic probe 33 can be held on motion of ultrasound probe mechanism 32
In.
According to an embodiment of the invention, it is slidably mounted as shown in figure 4, being oriented to syringe motion control mechanism 37
Syringe moving forward and backward relative to pedestal 53 is oriented in control on pedestal 53, can be configured as, such as the dotted arrow institute in Fig. 4
Show.
According to an embodiment of the invention, it is oriented to as shown in figure 5, being oriented to syringe motion control mechanism 37 and including control
The component of the positioning of syringe 34, such as Lead screw transmission structure, control can be configured as and be oriented to the elevating movement of syringe 34, pitching fortune
Dynamic, left and right translational motion and/or horizontal revolving motion, as shown in the dotted arrow in Fig. 5.
Therefore, guiding movement controlling organization 37 can realize that control is oriented to the fortune of foregoing 5 frees degree of the positioning of syringe 34
It is dynamic, i.e., elevating movement, elevating movement, left and right translational motion, horizontal revolving motion and move forward and backward, and can be separate.It is left
Right translation campaign, elevating movement, the direction that moves forward and backward can be orthogonal.
Fig. 5 show control and is oriented to the elevating movement of syringe, elevating movement, left and right translational motion, horizontal revolving motion
The Local map of structure.First vertical leading screw 61, the second vertical leading screw 63 respectively vertically, be rotationally arranged at be oriented to syringe control
Inside the left and right controlling organization of mechanism 37 processed, 1 screw is respectively equipped with the vertical leading screw, and it is solid respectively outside screw
Equipped with the first vertically movable 62 and second vertically movable part 64 of part.First level leading screw 71 flatly, be rotationally arranged at
The inner side of one vertically movable part 62, the second horizontal screw lead 73 flatly, be rotationally arranged at the second vertically movable inner side of part 64, the
One end not contacted with the first vertically movable part 62, the second vertically movable part 64 of one horizontal screw lead 71, the second horizontal screw lead 73,
It has been respectively equipped with the bearing (not shown) of support, turning effort.It is respectively equipped with 1 screw on the horizontal screw lead, and
The horizontal movement part 74 of first level movement parts 72 and second is fixed with outside screw respectively.The principle coordinated according to leading screw and screw
Understand, the rotary motion of the leading screw can be converted into the described first vertically movable part 62, the second vertically movable part 64, first
Horizontal movement part 72, the 74 respective linear motion along place leading screw of the second horizontal movement part.
The bottom of first level movement parts 72 is provided with connector 82, and the bottom of the second horizontal movement part 74 is provided with universal joint 81.For
Ensure to be oriented to attitude stabilization of the syringe 34 in operation, be formed with and be oriented to cylinder seat 83, syringe 34 is oriented to for installing, its it is anterior with
Universal joint 81 is connected, and rear portion is connected with connector 82 with bearing.
The design of universal joint and coupled structure so that the rotary motion side of the guiding syringe in usual embodiment
Formula is optimized.Under normal circumstances, what the rotation to target element was taken is all to be fixed in another rotatable part
On, such as rotatable axle, target rotary components are connected with the rotatable part at one, by (such as rotatable to the part
Axle) rotation, drive the target rotary components integral-rotation, as the rotary motion under single-point connection (control).
And the rotation mode used in the present invention, it is that tie point is set respectively in the front and rear end of target rotary components
(or control point), by controlling changing respectively in vertical direction, horizontal direction relative bearing for two tie points (or control point)
Become, control is oriented to the rotation of syringe, i.e. rotary motion under two point control.Rotary motion under being controlled relative to single-point, more
Flexibly, and mechanical structure is simplified.
In embodiments of the present invention, the connected mode of cylinder seat and horizontal movement part is oriented to, is front end universal joint, after
End bearing.Wherein, bearing is selected in rear end, it is ensured that is oriented to the position of cylinder seat rear end (guiding back end of syringe) in space
It is stable, so that it is guaranteed that syringe will not produce slip in the longitudinal direction, and ensure that syringe will not skid off universal joint.
Alternatively or the bottom of the second horizontal movement part 74 set connector, be oriented to cylinder seat 83 front portion with
The connector for being located at the bottom of the second horizontal movement part 74 is connected with bearing, is set in the bottom of first level movement parts 72 universal
Section, the rear portion for being oriented to cylinder seat 83 are located at the universal joint of the bottom of first level movement parts 72 with this and are connected；It is or reasonable at other
Design in, be oriented to cylinder seat 83 both ends could be arranged to be connected with universal joint respectively.
Except existing ball-type universal joint, the parts such as Hooks coupling universal coupling are can also be in force.
When the first vertical 61 and second vertical leading screw 63 of leading screw at the same rate, same direction rotate when, the first vertical fortune
62 and second vertically movable part 64 of moving part also at the same rate, same direction along place leading screw up or down synchronous linear transport
It is dynamic, first level leading screw 71 and the synchronization lifting of the second horizontal screw lead 73 are driven, so as to realize the elevating movement for being oriented to syringe 34.
When the first vertical 61 and second vertical leading screw 63 of leading screw is rotated with friction speed and/or different directions, first is perpendicular
Straight 62 and second vertically movable part 64 of movement parts also with friction speed and/or to different directions along place leading screw up or down not
Synchronous linear moves, and drives first level leading screw 71 and the second horizontal screw lead 73 to carry out nonsynchronous elevating movement, so as to realize
It is oriented to the elevating movement of syringe 34.
When the horizontal screw lead 73 of first level leading screw 71 and second at the same rate, same direction rotate when, first level fortune
The horizontal movement part 74 of moving part 72 and second also at the same rate, same direction transports along the leftward or rightward straight line of place screw synchronous
It is dynamic, so as to realize the left and right translational motion for being oriented to syringe 34.
When the horizontal screw lead 73 of first level leading screw 71 and second is rotated with friction speed and/or different directions, the first water
The flat horizontal movement part 74 of movement parts 72 and second is also with friction speed and/or leftward or rightward not to different directions along place leading screw
Synchronous linear moves, so as to realize the horizontal revolving motion for being oriented to syringe 34.
Above to be described from the process for the positioning for being oriented to syringe, if being described from the result for the positioning for being oriented to syringe, by
The principle of lead screw transmission understands that distance=revolution * pitch, i.e. leading screw every revolution, the screw (movement parts) on leading screw is i.e. along silk
The distance of thick stick one pitch of traveling, the number of turns that leading screw rotates is different, and the mobile distance of screw (movement parts) is also different, so as to
Realize the positioning for being oriented to syringe (guiding cylinder seat).
If syringe is oriented to before and after positioning, displacement (including the size of distance and direction) of each movement parts on the leading screw of place
For：
First vertically movable part 62：A；Second vertically movable part 64：B；
First level movement parts 72：C；Second horizontal movement part 74：D.
If A is identical with B, the translation for being oriented to syringe in the vertical direction is realized, is as oriented to the elevating movement of syringe；
If A is different from B, the rotation for being oriented to syringe in the vertical direction is realized, is as oriented to the elevating movement of syringe；
If C is identical with D, realizes and be oriented to the translation of syringe in the horizontal direction, be as oriented to the side-to-side movement of syringe；
If C is different from D, realizes and be oriented to the rotation of syringe in the horizontal direction, be as oriented to the horizontal rotation of syringe
Motion.
The motion of the foregoing various frees degree can be driven by built-in motor, and can be independent mutually.
It is foregoing to be provided with inside left controlling organization with right controlling organization and in region that left and right controlling organization is limited
Control to be oriented to the component of positioning of syringe 34 be Lead screw transmission structure, it should be noted that inventor has had contemplated that also
Component or the drive mechanism of other forms can be set and are oriented to the positioning of syringe 34 to control.
In another embodiment, first direction motion control mould can be included by being oriented to syringe motion control mechanism 37
Block, second direction motion-control module and third direction motion-control module.As the alternative of lead screw transmission, mould is respectively controlled
Block can use hydraulic linear actuator telecontrol equipment, and the pressure oil in pipeline and actuator is pressurizeed or is depressured using compression pump,
Promote the press rods of actuator to stretch, so as to which the rotary motion of motor is changed into linear motion, realize the positioning for being oriented to syringe.
First direction motion-control module can be configured as the translational motion and rotation that control is oriented on the vertical direction of syringe 34
Motion, second direction motion-control module can be configured as control be oriented to syringe 34 horizontal direction on translational motion and
Rotary motion, third direction motion-control module can be configured as control be oriented to syringe 34 in motion of ultrasound probe mechanism 32
Linear movement direction on translational motion.Translational motion on foregoing three directions can be mutually perpendicular to and independently of each other
's.
As shown in Figure 3, Figure 4, operating mechanism 3 also includes setting connector 51 on the base 53, for operating mechanism 3
Power supply and communication, its internal mechanical structure can be driven to realize the motion for foregoing 5 frees degree for being oriented to syringe 34, that is, bowed
Face upward, lift, left and right translates, rotates horizontally, be front and rear.Being oriented to the positioning of syringe 34 can be carried out according to program set in advance.
Alternatively or additionally, the motion of foregoing 5 frees degree of syringe 34, i.e. its own posture and space bit are oriented to
The adjustment (positioning for being oriented to syringe) put, can also be manually implemented.Alternatively or additionally, connector 51 can also be arranged on
The appropriate location of syringe motion control mechanism 37 is oriented to, is such as oriented to the side lower of syringe motion control mechanism 37.
It should be noted that Fig. 4 be from protection positioning orifice plate 31 to be oriented to syringe motion control mechanism 37 direction on necessarily regard
View in angular region, and Fig. 5 is from syringe motion control mechanism 37 is oriented to certain visual angle on protection positioning orifice plate 31 direction
In the range of view, therefore Fig. 5 drafting direction have rotated about 90 degree relative to Fig. 4." front and rear " direction herein can be from
The direction of motion of ultrasonic probe straight ahead or retrogressing in Fig. 4 is understood, and " left and right " direction is and " front and rear " direction phase
Vertical direction, but it is to be understood that " front and rear " direction and " left and right " direction are relative concepts, " front and rear " in a width view
Direction may be changed into " left and right " direction in another width view.
In operation element mechanism 3, ultrasonic probe 33 is pushed into operation receiveing person's rectum using motion of ultrasound probe mechanism 32, had
The first installed protection device outside ultrasonic probe is needed in the case of a little, to improve image quality, such as ultrasonic probe protective case.To obtain
Fan-shaped ultrasonic scanning image figure is obtained, manipulating motion of ultrasound probe mechanism 32 makes to stretch into the intrarectal ultrasonic probe 33 of operation receiveing person one
Determine angle internal rotation.The track envelope for being oriented to point of puncture 8 at syringe 34 relative two is all tapered, it is ensured that in left and right prostate
When puncturing sampling respectively, double-cone type, which punctures sampling, can avoid operation receiveing person's urethra, reduce injury and complication.
Adjustment mechanism 4 is arranged to that operating mechanism 3 can be adjusted according to the position of patient and/or the position of operating table
Horizontal level, vertical position and/or luffing angle.In the embodiment shown in Fig. 1, it can be carried out by position adjustments knob
Operation.
Man-machine interaction mechanism 1 is used to show the real-time imaging that operating mechanism 3 is gathered, and receives outside input, and go back quilt
It is configured to communicate with controlling organization 5, so as to control each component in operating mechanism 3 by controlling organization 5.As shown in figure 1,
Man-machine interaction mechanism 1 is removably mounted on the controlling organization 5.In the embodiment of figure 1, man-machine interaction mechanism 1 is wrapped
A notebook computer is included, inside is mounted with the scanning imagery and software for calculation for aiming at the system development, for real-time imaging
Reading, modeling, fusion, registration, display, and be responsible for biopsy sample point, the calculating in seeds implanted path, display and adjustment,
It is that patient obtains the main source of operation information and completes the main guide of operation technique；It sends control life as host computer
Make to controlling organization 5, so as to control each component in operating mechanism 3.It will be appreciated by those skilled in the art that can be according to reality
Need notebook computer replacing with other electronic equipments and (include but is not limited to desktop computer, tablet personal computer and aim at described
The electronic control unit of system design, remote control equipment etc.).
It should be appreciated that the program of positioning and guiding syringe 34 can be set by man-machine interaction mechanism 1.External command triggers
Device 6 is configured as sending signal to man-machine interaction mechanism 1 so that by controlling organization 5 to each component in operating mechanism 3
Control can be enabled, so that the positioning switching for being oriented to syringe is enabled.
In the embodiment shown in Fig. 3, external command trigger device 6 is implemented as being arranged on the bottom of controlling organization 5
Pedal.When pedal is operated, signal is sent to man-machine interaction mechanism 1 by controlling organization 5, and if only if man-machine interaction machine
Structure receives this signal, and the control to each component in operating mechanism 3 is just enabled, so that the positioning for being oriented to syringe 34 is cut
Change and be enabled, next sub-sampling positioning or seeds implanted positioning can start.Such control model is the protection to patient,
Avoid intervening equipment from producing uncontrollable displacement in human body, trigger malpractice.
Controlling organization 5 includes hardware circuit, and is interconnected with man-machine interaction mechanism 1, can receive the life of man-machine interaction means 1
Order, or send the command signal of the external command trigger device 6 received to man-machine interaction mechanism 1, so as to control working machine
Each component in structure 3.
Further, can also include one inside controlling organization 5 can accommodate operating mechanism 3, the sky of man-machine interaction mechanism 1
Between, when equipment when not in use, the preservation for operating mechanism 3, man-machine interaction mechanism 1, associated cable etc..
It should be appreciated that be oriented to syringe 34 be located through manually adjust to realize when, remove in foregoing man-machine interaction mechanism 1
Image show beyond function and external command trigger device 6 be optional mechanism or function.It is also understood that outside refers to
Trigger device 6 is made to be configured to send signal to guiding syringe motion control mechanism so as to each group in operating mechanism 3
The control of part is enabled, so that the positioning switching for being oriented to syringe 34 is enabled.
Pushing hands 2 and universal wheel 7 both can coordinate for the shifting of medical robot equipment, fixed.It should be appreciated that pushing hands
2 pulling devices that can be changed to other forms according to being actually needed, universal wheel 7 can also be changed to be applied to operative site ring
Other specifications in border or the load-carrying members or mobile device of form, such as the lifting support of adjustable for height bottom belt wheel.
As shown in Fig. 3, Fig. 4 and Fig. 6, in a preferred embodiment, ditrysian type protection positioning orifice plate 31 is removably pacified
On the anterior bent plate of pedestal 53, its outer upper is prominent structure, includes the positioning hole 311 of two insertions.Prominent structure
(including positioning hole 311) can be symmetrical structure.It is fixed to correspond to protection respectively for point of puncture 8 at two at patient's perineum shown in Fig. 2
Two insertion positioning holes of position orifice plate 31.
It should be appreciated that in figs. 3 and 4, the anterior bent plate for being used to install protection positioning orifice plate on pedestal is shown as base
The direct stretching structure of seat front end, but the bending of other forms and stretching structure are also feasible, for example, the front end-plate of pedestal
On along first forward extending out, be then folded upward at again.
Different from classical matrix formula mechanical template method, two insertion positioning holes 311 described in embodiment of the present invention are distinguished
The point of puncture of the corresponding left prostate of operation receiveing person and right prostate.Meanwhile the bottom of the protrusion structure in protection positioning orifice plate 31
Blood groove 312 is provided with, for retaining operation receiveing person's blood in surgical procedure, avoids it from flowing backwards into equipment and pollutes, influence to perform the operation
Process, or even cause cross-infection.
Fig. 7 illustrates the original for being accurately positioned mode of " positioning hole+guiding syringe " according to one embodiment of the present invention
Reason.When triggering external command trigger device 6 (for example, stepping on pedal), man-machine interaction mechanism 1 calculates next sub-sampling automatically
Or location data corresponding to seeds implanted, correspondingly control operating mechanism 3, i.e., by be oriented to syringe motion control mechanism 37
Integrally moved forward and backward on pedestal 53, front and back position (space of the syringe 34 on ultrasonic probe linear movement direction is oriented to control
Position) so as to realizing the restriction of the intervention depth to intervening equipment；Simultaneously syringe motion control mechanism 37 is oriented to by controlling such as
Component shown in Fig. 5, realized in 4 frees degree to being oriented to syringe in the control with the positioning in horizontal direction vertically.Pass through
The adjustment of 5 frees degree of the above, you can adjustment is oriented to itself posture and the locus of syringe 34, makes guiding syringe 34 fall in mesh
Sample point is marked with straight line, coordinating the control of the intervention depth to intervening equipment determined by some positioning hole 311, you can real
Now it is accurately positioned.The shortcomings that this structure causes system to overcome conventional template method in principle, improve positioning precision.Patient
Cell taking gun only need to be held, operation receiveing person's prostate is pierced into according to designated depth along the track of syringe 34 is oriented to, manipulates cell taking gun and complete sampling.
According to other embodiment, in the case where positioning orifice plate without using protection, the positioning of syringe 34 can be oriented to by adjusting,
Make guiding syringe with certain position fall to be implanted into determined by path on straight line in radioactive particle target, patient holds particle implanting gun
Target implantation path is acted on through syringe is oriented to.
It should be appreciated that because plot space and ability are limited, above structure chart or other schematic diagrames only represent implementation of the present invention
The system architecture and operation principle of mode, do not indicate that its actual size, not exclusively represent the true form of each part yet.
The overall structure of embodiment of the present invention is described in more detail above, entered below for its course of work
The exemplary elaboration of one step.
Operation receiveing person takes lithotomy position, and medical personnel complete sterilization etc. and prepared.Pushing hands 2 is held, the system is moved to operation
Near platform, determine its position and lock universal wheel 7, the position in operative space, operation receiveing person's position turn adjustment mechanism 4 is adjusted
Knob is saved, adjusts horizontal level, vertical position and/or the luffing angle of operating mechanism 3.Start, equipment self-inspection and initialization.
Fig. 8 shows the software control flow chart of the minimally invasive medical robot system according to one embodiment of the present invention.Such as
Shown in Fig. 8 flows, enter main menu after the completion of self-test, initialization, needed to select " prostate biopsy " or " radiation according to operation
Property seeds implanted ", and input operation receiveing person's data, create case history.
Manipulate motion of ultrasound probe mechanism 32 and ultrasonic probe 33 is pushed into operation receiveing person's rectum, and suitably movable or rotation
For ultrasonic probe 33 to realize that sectoring is imaged, man-machine interaction mechanism 1 shows imaging results, and patient can adjust according to being actually needed
The scope in sampling/radioactive prospecting instrument region.
3D modeling, image co-registration are carried out with registering by software, as shown in Fig. 8 flows.The display screen of man-machine interaction mechanism 1
Show pre- sample point (puncture sampling planning), patient is according to being actually needed and operation receiveing person's physiological status, Reasonable adjustment sample point position
Put and number.If radioactive prospecting instrument, then the position and number (seeds implanted rule that this step can be to seeds implanted path
Draw) it is adjusted.
Then begin to implement to puncture sampling.The display screen of man-machine interaction mechanism 1 starts to prompt sample point successively.Patient holds
Cell taking gun 35 makes it according to the pre-set angle of system, track and depth from the puncture at perineum through syringe 34 is oriented to
Put and be accurately pierced into prostate, the switch on driving handle, you can a fritter prostata tissue is removed and is locked in syringe needle,
Complete a single-point sampling.When triggering external command trigger device 6 (for example stepping on pedal), man-machine interaction mechanism 1
Automatically location data corresponding to next sub-sampling or seeds implanted is calculated, correspondingly controls operating mechanism 3, and by being oriented to syringe
The overall on the base 53 of motion control mechanism 37 is moved forward and backward, and syringe 34 is oriented in ultrasonic probe linear movement direction with control
On front and back position；Syringe motion control mechanism 37 part-structure as shown in Figure 5 is oriented to by controlling simultaneously, in 4 freedom
The positioning to being oriented to syringe is realized on degree.The adjustment of 5 frees degree more than, can adjust the locus for being oriented to syringe 34
With itself posture, fall guiding syringe 34 and on straight line, coordinating determined by target sample point and some positioning hole 311 to being situated between
Enter the control of the intervention depth of equipment, you can realization is accurately positioned.This structure causes system to overcome traditional mould in principle
The shortcomings that plate method, improve positioning precision.Patient need to only hold cell taking gun, along be oriented to the track of syringe 34 according to designated depth be pierced into by
Patient's prostate, manipulate cell taking gun and complete sampling.According to system suggestion, and coordinate the signal of external command trigger device 6, travel through
Gross sample point, prostate biopsy process are completed.Similarly, if radioactive prospecting instrument, then must be prompted according to display screen
Seeds implanted path and coordinate the signal of external command trigger device 6, until traversal all pre- implantation paths and implantation point, complete
Into radioactive prospecting instrument, and postoperative positional accuracy and dosage without checking checking seeds implanted is distributed.In whole process
In, all depend on system and the real-time imaging of intervening equipment is tracked so that operation visualization and risk control ability are significantly
Strengthen.
It should be noted that embodiment of the present invention can be applied in the field such as prostate biopsy or radioactive prospecting instrument,
Used for example, operating mechanism 3 can coordinate suitable for prostate biopsy or the cell taking gun for the treatment of, bar radioactive particle implanting gun.But
It should also be appreciated that the present invention and embodiment can also be improved and be applied to reference to other medical procedures, position other medical science
Equipment etc., used for example, operating mechanism 3 can also be combined with freezing rifle.
Embodiment of the present invention proposes a kind of method for protecting positioning orifice plate to be combined positioning with being oriented to syringe, that is, it is fixed to protect
Position orifice plate is oriented to syringe rear preceding, and it is adjustable with operation receiveing person's skin contact, can not to be oriented to itself posture and the position of syringe,
And one of positioning hole on protection positioning orifice plate overlaps with straight line determined by target point with the straight line where being oriented to syringe,
Because the length for being oriented to syringe is more than the guiding hole length of tradition machinery template, and it can be combined with protection positioning orifice plate and determine
Intervention is implemented in position hole, if the positioning for being oriented to syringe makes a mistake, is oriented to syringe and does not fall within straight line determined by destination path
On, so the intervening equipment passed through along syringe is oriented to, will be unable to the insertion positioning hole arrived at according to plan on protection positioning orifice plate, and
It is to be protected positioning orifice plate to block, insertion positioning hole can not be passed through and arrive at operation receiveing person's skin, it is achieved thereby that intervening equipment exists
The process of self-test before human body is intervened, is avoided due to right caused by the guiding syringe Wrong localization that the failures such as hardware, software trigger
The injury of operation receiveing person, security, the reliability of system are improved, the deviations of conventional template method are eliminated from principle, gram
Take that conventional template method surgical wound surface is more, limitation is big, the deficiency without process of self-test, improved and puncture accuracy rate, it is ensured that cell taking gun, grain
Sub- implanting gun accurately arrives at precalculated position, and error is can be controlled within 1.0mm, improves operation reliability.
On this basis, some embodiments of the present invention protection positioning orifice plate on devise blood groove, for retain by
Patient's blood, at the same device interior may be infected with the parts such as the guiding syringe of operation receiveing person's blood and its hetero-organization be all it is disposable,
Substantially prevent the possibility of medical cross infection, while reduce the maintenance cost of hospital.In an embodiment, blood groove can
To be a seam for having one fixed width, blood flow to here when, can be along positioning hole due to positioning the structure and Action of Gravity Field of orifice plate
Plate outer surface is flowed down without into device interior.In another embodiment, blood groove can be that a plurality of seam is arranged in juxtaposition knot
Structure.According to the embodiment of the present invention, blood groove can be lateral arrangement or be longitudinally arranged.
According to certain embodiments of the present invention, motion of ultrasound probe mechanism can not only be such that ultrasonic probe is done in rectum
Move forward and backward, and comprising a kind of rotating mechanism, ultrasonic probe can be made, in certain angle internal rotation, to expand in operation receiveing person's rectum
Expose thoroughly areas imaging, switches imaging section, obtains the positional informations such as the depth, angle, track of intervening equipment in real time, improves hand
Art reliability.
According to certain embodiments of the present invention, the control software of minimally invasive medical robot system can realize preoperative collection
The rigid, elastic of Magnetic resonance imaging (MRI) and real-time ultrasonography is merged and image registration.On the basis of rigid fusion of imaging
On, using the nonlinear characteristic of elastic fusion of imaging, the lesion information that nuclear magnetic resonance image is provided by software accurately with
Ultrasonic image is merged, no matter intervening equipment be horizontal or oblique cutting shape intervention, system can real-time display be situated between
Enter the positional information of the track of equipment, especially needle point, improve the tracking accuracy of cell taking gun/bar radioactive particle implanting gun,
Auxiliary patient more accurately carries out biopsy/seeds implantation, that is, realizes the whole process monitoring in real time of intervention procedure, drop
Low maloperation risk, improve operation reliability.
In addition, in the treatment of prostate cancer, radioactive prospecting instrument method is because of its simple operation, and the surface of a wound is small, and conformal degree is high,
Recurrence rate is low, the few intercurrent disease compared with outer photograph and operation, the advantages that radiological dose is easily controllable, Systems in Certain Developed Countries into
For the treatment means of standard.It can be controlled in itself posture and the locus for being oriented to syringe according to program set in advance
In embodiment, efficiency, security, simplicity and reliability can be greatly enhanced.
According to certain embodiments of the present invention, by the complicated fortune related to positioning intervening equipment of medical robotic system
It is dynamic to be decomposed into the straight line or rotary motion for being oriented to syringe in 5 frees degree, allow it independent mutually, reduce operation difficulty,
The operative space between the leg of operation receiveing person two is expanded simultaneously, is easy to patient to operate.
According to certain embodiments of the present invention, the Clinics and Practices of prostate cancer are integrated in same system.Wherein,
Seeds implanted function under image-guided so that the position of each radioactive particle is accurately controlled, and in ultrasonoscopy in real time
Monitoring particle position becomes possibility, and position and the dosage for examining implantation particle without postoperative check are distributed, saved patient and
The energy of operation receiveing person.
The those skilled in the art for benefiting from the teaching provided in aforementioned specification and associated drawings will be easy
Expect many improvement and the other embodiment of present disclosure.It is understood, therefore, that it these are only presently preferred embodiments of the present invention
, it is not intended to limit the invention, within the spirit and principles of the invention, any modification for being made, equivalent substitution etc.,
It should be included in the scope of the protection.
Claims (12)
- A kind of 1. minimally invasive medical robot system, it is characterised in that including：Operating mechanism (3), adjustment mechanism (4), controlling organization (5) and man-machine interaction mechanism (1), wherein, the operating mechanism (3) is positioned on the adjustment mechanism (4), and the adjustment Mechanism (4) is positioned on the controlling organization (5),The operating mechanism (3) includes：Ditrysian type protection positioning orifice plate (31), it is oriented to syringe (34), ultrasonic probe (33), ultrasound Probe movement mechanism (32), pedestal (53) and guiding syringe motion control mechanism (37), the guiding syringe motion control machine Structure (37) is slidably mounted on pedestal, and the ditrysian type protection positioning orifice plate (31) is removably mounted on the pedestal (53) on anterior bent plate, the motion of ultrasound probe mechanism (32) is slidably mounted in the upper support board of pedestal (53) On, the ultrasonic probe (33) is held in the motion of ultrasound probe mechanism；The adjustment mechanism (4) is arranged to adjust the operating mechanism according to the position of patient and/or the position of operating table (3) horizontal level, vertical position and/or luffing angle；The man-machine interaction mechanism (1) is configured as showing the real-time imaging that the operating mechanism (3) is gathered, and receives outside defeated Enter, and be additionally configured to communicate with the controlling organization (5), so that by the controlling organization (5) come to the working machine Component in structure (3) is controlled.
- 2. minimally invasive medical robot system according to claim 1, it is characterised in that the guiding syringe motion control machine Structure (37) includes being used to install the guiding cylinder seat (83) for being oriented to syringe (34), wherein at least the one of the guide pin cylinder base (83) End is connected with universal joint (81), the adjustment of the posture for aiding in the guiding syringe (34).
- 3. minimally invasive medical robot system according to claim 2, it is characterised in that the guiding syringe motion control machine Structure (37) includes left controlling organization and right controlling organization, inside the left controlling organization and the right controlling organization and/or It is provided with the region that the left controlling organization and the right controlling organization are limited and controls the positioning for being oriented to syringe (34) Component.
- 4. minimally invasive medical robot system according to claim 3, it is characterised in that the control guiding syringe (34) component of positioning is Lead screw transmission structure.
- 5. minimally invasive medical robot system according to claim 3, it is characterised in that the positioning for being oriented to syringe (34) One or more in following motion including the guiding syringe (34)：Elevating movement, elevating movement, left and right translational motion, Horizontal revolving motion and move forward and backward.
- 6. minimally invasive medical robot system according to claim 1, it is characterised in that the ditrysian type protection positioning orifice plate (31) outer upper is prominent structure, includes the positioning hole (311) of two insertions.
- 7. minimally invasive medical robot system according to claim 6, it is characterised in that the ditrysian type protection positioning orifice plate (31) bottom of the prominent structure is provided with blood groove (312).
- 8. the minimally invasive medical robot system according to any one of claim 1-7, it is characterised in that also refer to including outside Trigger device (6) is made, the external command trigger device (6) is configured as sending signal so that be oriented to the positioning of syringe (34) Switching is enabled.
- 9. minimally invasive medical robot system according to claim 8, it is characterised in that the external command trigger device (6) it is implemented as being arranged on the pedal of the controlling organization (5) bottom.
- 10. the minimally invasive medical robot system according to any one of claim 1-7, it is characterised in that the man-machine friendship Mutual mechanism (1) is removably mounted on the controlling organization (5) or is independently arranged.
- 11. the minimally invasive medical robot system according to any one of claim 1-7, it is characterised in that also including pushing hands (2) and/or universal wheel (7), the pushing hands (2) and/or universal wheel (7) are configured as aiding in the minimally invasive medical robot system Transfer and/or fixation.
- 12. the minimally invasive medical robot system according to any one of claim 1-7, it is characterised in that the control machine Structure (5) includes the space for being applied to accommodate the man-machine interaction mechanism (1) and the operating mechanism (3).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510623072.6A CN105125289B (en) | 2015-09-25 | 2015-09-25 | minimally invasive medical robot system |
| PCT/CN2016/099359 WO2017050201A1 (en) | 2015-09-25 | 2016-09-19 | Minimally invasive medical robot system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510623072.6A CN105125289B (en) | 2015-09-25 | 2015-09-25 | minimally invasive medical robot system |
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| CN105125289A CN105125289A (en) | 2015-12-09 |
| CN105125289B true CN105125289B (en) | 2018-01-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110175958A (en) * | 2019-04-24 | 2019-08-27 | 艾瑞迈迪科技石家庄有限公司 | A kind of ablation interpretation of result method and system based on medical image |
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| CN105125289B (en) * | 2015-09-25 | 2018-01-02 | 拜耳斯特医疗机器人技术（天津）有限公司 | minimally invasive medical robot system |
| CN107184255B (en) * | 2017-07-11 | 2023-07-21 | 哈尔滨理工大学 | Ultrasonic transrectal prostate puncture mechanism |
| CN107280712B (en) * | 2017-08-02 | 2023-08-22 | 三爱医疗科技（深圳）有限公司 | Double-plane prostate biopsy and particle implantation system |
| CN110960318B (en) * | 2018-09-30 | 2021-10-15 | 赛诺微医疗科技（浙江）有限公司 | CT guided ablation system and ablation positioning method |
| CN112999528A (en) * | 2020-12-24 | 2021-06-22 | 佛山市柏康机器人技术有限公司 | Control system and method of multi-needle continuous electric particle implantation device |
| CN113413219B (en) * | 2021-06-16 | 2022-10-14 | 拜斯特医疗科技(北京)有限公司 | Surgical instrument positioning and supporting device |
| CN113786220B (en) * | 2021-09-08 | 2023-03-10 | 中国科学院长春光学精密机械与物理研究所 | Throat swab sampling system and sampling method |
| CN116688373A (en) * | 2022-03-03 | 2023-09-05 | 杭州大士科技有限公司 | Multi-channel radioactive source implanter and application method thereof |
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| CN105125289A (en) | 2015-12-09 |
| WO2017050201A1 (en) | 2017-03-30 |
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