CN105662578A - Puncture needle propelling mechanical arm and ablation system using same - Google Patents
Puncture needle propelling mechanical arm and ablation system using same Download PDFInfo
- Publication number
- CN105662578A CN105662578A CN201610102437.5A CN201610102437A CN105662578A CN 105662578 A CN105662578 A CN 105662578A CN 201610102437 A CN201610102437 A CN 201610102437A CN 105662578 A CN105662578 A CN 105662578A
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- China
- Prior art keywords
- mechanical arm
- ablation
- control unit
- needle
- puncture needle
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/1815—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using microwaves
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/1815—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using microwaves
- A61B2018/1869—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using microwaves with an instrument interstitially inserted into the body, e.g. needles
Abstract
The invention discloses a puncture needle propelling mechanical arm which comprises a mechanical arm body, a propelling device and an ablation needle. The mechanical arm body comprises a base flange, a top flange and a six-shaft mechanical arm arranged between the base flange and the top flange; the propelling device comprises a rack, the rack is provided with a linear guide rail and a moving sliding table which can slide in the linear guide rail along the linear guide rail in a reciprocating mode; the ablation needle is installed at the bottom end of the moving sliding table through an ablation needle fixture. The invention further provides an ablation system comprising the puncture needle propelling mechanical arm. The ablation system has the advantages of being precise in lesion part positioning and thorough in ablation cutting and can prevent a doctor from being subjected to radial radiating harm.
Description
Technical field
The present invention relates to a kind of medical instruments field, be specifically related to a kind of puncture needle pusher mechanical arm and use the ablation system of this puncture needle pusher mechanical arm.
Background technology
When inside of human body generation pathological changes, and the health of patient does not allow to carry out operation and cuts off in treatment situation, it is sometimes desirable to utilize the means punctured that focus carries out biopsy or treatment (radio-frequency (RF) ablation, chemical ablation, microwave ablation). Microwave ablation application in recent years more and more extensive, microwave refers to that frequency is between 300MHz-300GHz, wavelength 1 meter (not conforming to 1 meter) to 0.1 centimetre between frequency electromagnetic waves. Microwave also has wave particle dualism as a kind of electromagnetic wave. The energy of microwave quantum is 199 × 10-25～1.99 × 10-21 joule. Microwave magnetic field can make molecule high speed rotary motion the temperature arrising caused by friction of surrounding, so that tissue coagulation, dehydration necrosis, reaches the purpose for the treatment of.
Microwave ablation determines the degree of depth of the focus orientation with skin anchor point and puncture needle (ablation needle) mostly by way of instrument such as CT/MRI scanning means, first on the cross section of human body, measure the position of focus, this aspect selects best inserting needle position and needle angle, utilizes the three-dimensional conformation of inserting needle aspect, needle angle and depth of needle to determine the exact position of focus and puncture needle (ablation needle) inserting needle. Although CT/MRI scanning means can accurately determine needle angle and the depth of needle of three-dimensional, but the process of puncturing operation carries out after all patient being removed from CT/MRI scanning aspect, when patient leaves CT scan device, doctor can only according to the judgement of oneself, determine an inserting needle direction substantially, puncture, then carry out CT scan again and confirmed. When carrying out ablative surgery, namely skin entry point starts after determining to puncture tumor targets. By protractor, puncture generally determines that needle angle keeps consistent as much as possible with design puncture angle, but owing to hand operation often error is relatively big in actual mechanical process, abecedarian is difficult to once successfully accurately sting quasi-target spot. Often in piercing process, CT scan is needed repeatedly to confirm and adjust the angle of puncture needle and the angle of human body fault plane. So that operating time extends, patient irradiation dose is greatly increased. Owing to repeated localised puncture and tumor targets puncture poor accuracy and make postoperative complication increase, and directly affect therapeutic effect.
It addition, existing horseley-Clarke technique is very difficult to apply in the operation at other positions of human body, the soft tissue that main cause is other positions of human body is not fixed relative to the skeletal tissue position of surrounding, makes image space and patient space be difficult to the coordinate setting agreed.Therefore the intervention at other positions of human body punctures and can be fixed up in the direction of puncture needle but without a fixing guide-localization/appearance device, generally use the guiding of real-time CT image, but owing to not puncturing guiding location/appearance, still suffer from the blindness in piercing process, puncture instrument in doctor's hands does not have objective accurate position mark, it is difficult in piercing process and puncture needle is fixed on desired trajectory, the experience of doctor individual can only be relied on, need to constantly carry out image scan adjustment direction, final result is likely to or has certain skew with desirable Planned Route, and it is time-consuming and affect therapeutic effect. it addition, when CT scan doctor holds puncture needle with hand steered, unnecessary roentgenization can be suffered.
Due to artificial many factors, often result in inserting needle inaccurate, impact treatment precision. Sometimes for repeatedly inserting needle, can cause time serious wearing by mistake, bring painful greatly and risk to patient. Further, for tumor patient, likely excising not thorough during operation, sufferer is also a kind of serious hidden danger by this, it is possible to because tumor resection does not thoroughly cause the consequences such as recurrence.
Therefore, for above-mentioned technical problem, it is necessary to provide a kind of and can be accurately positioned diseased region and accurately carry out the ablation system melted.
Summary of the invention
In view of this, it is an object of the invention to provide a kind of puncture needle pusher mechanical arm and use the ablation system of this puncture needle pusher mechanical arm, realize being accurately positioned tumor, mechanical arm produces displacement and melts, do not need the hand-held ablation needle of doctor, effectively prevent the x radiation x injury to clinician body.
Concrete, for achieving the above object, the present invention provides following technical scheme:
A kind of puncture needle pusher mechanical arm, including mechanical arm body, propulsion plant and ablation needle,
Described mechanical arm body includes base flange, top flange and the six shaft mechanical arms being arranged between base flange and top flange,
Described propulsion plant includes frame, and described frame is provided with linear guides and Mobile Slide, and described Mobile Slide can reciprocatingly slide along linear guides in linear guides,
Described ablation needle is installed on the bottom of Mobile Slide by ablation needle fixture.
Further, the side of described Mobile Slide is provided with cooling water pipe, and the outlet of cooling water pipe is positioned at the afterbody of ablation needle.
Further, also include, be arranged at linear guides upper end and the servomotor of sliding power is provided for Mobile Slide.
Further, described ablation needle is provided with one or more.
On the basis of above-mentioned puncture needle pusher mechanical arm, the present invention also provides for a kind of ablation system, including foregoing puncture needle pusher mechanical arm.
Further, also include central control unit, positioning imaging device,
Described central control unit includes being positioned to as control unit and melting control unit, described being positioned to controls positioning imaging device formation diseased region image as control unit, and the size of diseased region image changes into displacement through melting control unit according to default program.
Further, described central control unit is provided with monitoring screen, and described monitoring screen is connected with control software design unit.
Further, this ablation system also includes temperature sensor described in temperature sensor for detecting the operating temperature of ablation needle, and operational temperature information is passed to and melt control unit.
Further, described positioning imaging device is CT or ultrasonic guidance imager.
Compared with prior art, the beneficial effects are mainly as follows the following aspects:
1, puncture needle pusher mechanical arm is under the control of central control unit, realize being accurately positioned tumor, ablation system uses puncture needle pusher mechanical arm, control to puncture the generation displacement of pusher mechanical arm by central control unit to melt, operate without staff, effectively prevent the ray injury to clinician body;
2, six shaft mechanical arms cooperations realize 360 ° of rotations, make ablation system more be precisely controlled puncture angle, further ensure that operation safety;
3, adopting linear guides and Mobile Slide as positioner, its transmission accuracy can reach 0.1mm. Propelling torsion is constant, and speed uniformly can be fast or slow, stable drive noiselessness;
4, microwave thermal field distribution is uniform, and energy is concentrated, and the thermal efficiency is high, and treatment time is short;
5, multiple ablation needle is set, is simultaneously operable, bigger ablated volume can be reached.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme in the embodiment of the present invention, below the accompanying drawing used required during embodiment is described is briefly described, apparently, accompanying drawing for the present invention in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the perspective view of puncture needle pusher mechanical arm disclosed in the embodiment of the present invention.
Fig. 2 is the side-looking structural representation of puncture needle pusher mechanical arm disclosed in the embodiment of the present invention.
Fig. 3 is the structural representation of propulsion plant disclosed in the embodiment of the present invention
Fig. 4 is the structural representation of ablation system disclosed in the embodiment of the present invention.
Detailed description of the invention
Refer to Fig. 1 and Fig. 2, a kind of puncture needle pusher mechanical arm, including mechanical arm body 1, propulsion plant 2 and ablation needle 3,
Described mechanical arm body 1 includes base flange 101, top flange 103 and the six shaft mechanical arms being arranged between base flange and top flange.
Described six shaft mechanical arms include the first connection axle 1021, second and connect axle the 1022, the 3rd connection axle the 1023, the 4th connection axle the 1024, the 5th connection axle 1025 and the 6th connection axle 1026, first connects axle and second connects axle connection, 4th connection axle, the 5th connection axle, the 6th connection axle are sequentially connected with, 4th connection axle and the 5th connects axle and be arranged in parallel, and it is each perpendicular to the 5th connection axle, it is provided with the first mechanical arm body of rod 104 between second connection axle and the 3rd connection axle, between the 4th connection axle and the 5th connection axle, is provided with the second mechanical arm body of rod 105.
Ablation needle can arrange one or more, adds according to actual needs, as used many ablation needles, is of value to and improves the efficiency melted.
Refer to Fig. 3, described propulsion plant 2 includes frame 201, described frame is provided with linear guides 202 and Mobile Slide 203, and described Mobile Slide can reciprocatingly slide along linear guides in linear guides, and described ablation needle 3 is installed on the bottom of Mobile Slide by ablation needle fixture 204. The side of Mobile Slide is provided with cooling water pipe, and the outlet of cooling water pipe is positioned at the afterbody of ablation needle, herein that the explanation melting Aculeata is as follows: one contacted with sufferer with ablation needle is defined as head, and other end is defined as afterbody.
Puncture needle pusher mechanical arm also includes, it is arranged at linear guides upper end and the servomotor 4 of sliding power is provided for Mobile Slide, herein that the explanation of linear guides upper end is as follows: with ablation needle institute at one end for linear guides lower end, then the other end of linear guides is defined as linear guides upper end.
On the basis of above-mentioned puncture needle pusher mechanical arm, the present invention also provides for a kind of ablation system, refer to Fig. 4, including foregoing puncture needle pusher mechanical arm.
Further, also include central control unit 5, positioning imaging device 6,
Described central control unit includes being positioned to as control unit and melting control unit, described being positioned to controls positioning imaging device formation diseased region image as control unit, and the size of diseased region image changes into displacement through melting control unit according to default program.
Further, described central control unit is provided with monitoring screen, and described monitoring screen is connected with control software design unit.
Further, this ablation system also includes temperature sensor described in temperature sensor for detecting the operating temperature of ablation needle, and operational temperature information is passed to and melt control unit.
Further, described positioning imaging device is CT or ultrasonic guidance imager.
In sum, the microwave ablation system of the present invention utilizes positioning imaging device to form diseased region image, is punctured to diseased region by mechanical arm clamps ablation needle, it is possible to preventing microwave radiation harm doctor, diseased region excision simultaneously is thoroughly, it is prevented that produce recurrence.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, and when without departing substantially from the spirit of the present invention or basic feature, it is possible to realize the present invention in other specific forms. Therefore, no matter from which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the invention rather than described above limits, it is intended that all changes in the implication of the equivalency dropping on claim and scope included in the present invention. Any accompanying drawing labelling in claim should be considered as the claim that restriction is involved.
In addition, it is to be understood that, although this specification is been described by according to embodiment, but not each embodiment only comprises an independent technical scheme, this narrating mode of description is only for clarity sake, description should be made as a whole by those skilled in the art, and the technical scheme in each embodiment through appropriately combined, can also form other embodiments that it will be appreciated by those skilled in the art that.
Claims (8)
1. a puncture needle pusher mechanical arm, it is characterised in that include mechanical arm body, propulsion plant and ablation needle,
Described mechanical arm body includes base flange, top flange and the six shaft mechanical arms being arranged between base flange and top flange,
Described propulsion plant includes frame, and described frame is provided with linear guides and Mobile Slide, and described Mobile Slide can reciprocatingly slide along linear guides in linear guides,
Described ablation needle is installed on the bottom of Mobile Slide by ablation needle fixture.
2. puncture needle pusher mechanical arm as claimed in claim 1, it is characterised in that the side of described Mobile Slide is provided with cooling water pipe, and the outlet of cooling water pipe is positioned at the afterbody of ablation needle.
3. puncture needle pusher mechanical arm as claimed in claim 1, it is characterised in that also include, is arranged at linear guides upper end and provides the servomotor of sliding power for Mobile Slide.
4. puncture needle pusher mechanical arm according to claim 1, it is characterised in that described ablation needle is provided with one or more.
5. an ablation system, it is characterised in that include the puncture needle pusher mechanical arm as described in any one of claim 1-4.
6. ablation system according to claim 5, it is characterised in that described ablation system includes central control unit, positioning imaging device,
Described central control unit includes being positioned to as control unit and melting control unit, described being positioned to controls positioning imaging device formation diseased region image as control unit, and the size of diseased region image changes into displacement through melting control unit according to default program.
7. ablation system according to claim 6, it is characterised in that described central control unit is provided with monitoring screen, and described monitoring screen is connected with control software design unit.
8. ablation system according to claim 6, it is characterised in that described positioning imaging device is CT or ultrasonic guidance imager.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610102437.5A CN105662578A (en) | 2016-02-25 | 2016-02-25 | Puncture needle propelling mechanical arm and ablation system using same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610102437.5A CN105662578A (en) | 2016-02-25 | 2016-02-25 | Puncture needle propelling mechanical arm and ablation system using same |
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| CN105662578A true CN105662578A (en) | 2016-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610102437.5A Pending CN105662578A (en) | 2016-02-25 | 2016-02-25 | Puncture needle propelling mechanical arm and ablation system using same |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110353796A (en) * | 2018-04-28 | 2019-10-22 | 北京铭杰医疗科技有限公司 | Tumor treatment equipment and its application method |
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Patent Citations (6)
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| US5257998A (en) * | 1989-09-20 | 1993-11-02 | Mitaka Kohki Co., Ltd. | Medical three-dimensional locating apparatus |
| US5957933A (en) * | 1997-11-28 | 1999-09-28 | Picker International, Inc. | Interchangeable guidance devices for C.T. assisted surgery and method of using same |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110353796A (en) * | 2018-04-28 | 2019-10-22 | 北京铭杰医疗科技有限公司 | Tumor treatment equipment and its application method |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20160816 Address after: Dengyun road Yushan town Kunshan City, Jiangsu province 215000 National Science and technology business incubator No. 268 room 509 Applicant after: Suzhou Anshu Medical Technology Co., Ltd. Address before: 215000, No. 796, No. 4, affinity Road, Kunshan, Suzhou, Jiangsu Applicant before: XINMAI YUANCHUANG TIMES MEDICAL SCIENCE & TECHNOLOGY (SUZHOU) CO., LTD. |
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Effective date of registration: 20171222 Address after: 215300 Jiangsu Province, Yushan city Kunshan Town Road No. 888 Jiangnan Spring Zizhu 12 building 1106 Applicant after: XINMAI YUANCHUANG TIMES MEDICAL SCIENCE & TECHNOLOGY (SUZHOU) CO., LTD. Address before: Dengyun road Yushan town Kunshan City, Jiangsu province 215000 National Science and technology business incubator No. 268 room 509 Applicant before: Suzhou Anshu Medical Technology Co., Ltd. |
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| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160615 |