CN105615997A - Minimally-invasive intervention ablation system with control-type mechanical arm - Google Patents
Minimally-invasive intervention ablation system with control-type mechanical arm Download PDFInfo
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- CN105615997A CN105615997A CN201610101880.0A CN201610101880A CN105615997A CN 105615997 A CN105615997 A CN 105615997A CN 201610101880 A CN201610101880 A CN 201610101880A CN 105615997 A CN105615997 A CN 105615997A
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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
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1679—Program controls characterised by the tasks executed
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0271—Thermal or temperature sensors
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Abstract
The invention discloses a minimally-invasive intervention ablation system with a control-type mechanical arm.The minimally-invasive intervention ablation system with the control-type mechanical arm comprises a central control unit, a positioning and imaging device and an ablation executing device.The central control unit comprises a positioning and imaging control unit and an ablation control unit, the positioning and imaging control unit controls the positioning and imaging device to form a lesion part image, and the dimension of the lesion part image is converted into displacement by the ablation control unit according to a preset procedure.The ablation executing device comprises a main machine, the mechanical arm arranged on the main machine and an ablation needle positioned at the tail end of the mechanical arm, and the mechanical arm of the ablation executing device is positioned to the lesion part according to the displacement under control of the ablation control unit so as to perform radiofrequency ablation or microwave ablation on the lesion part image.The minimally-invasive intervention ablation system with the control-type mechanical arm has the advantages of capabilities of positioning the lesion part precisely and protecting doctors from being endangered by radiation and thoroughness in ablation.
Description
Technical field
The present invention relates to a kind of medical instruments field, be specifically related to a kind of control formula mechanical arm Wicresoft intervention ablation system.
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, radio-frequency (RF) ablation). Radio-frequency (RF) ablation application in recent years more and more extensive, microwave refers to that frequency is between 300MHz-300GHz, wavelength 1 meter (without 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. Radio frequency, represents the electromagnetic frequency that can be radiated space, and frequency range is between 300KHz��300GHz. It is exactly radio-frequency current that radio frequency is called for short RF radio frequency, and it is that a kind of high-frequency ac changes electromagnetic abbreviation. The change per second alternating current less than 1000 times is called low-frequency current, the high frequency electric that is called more than 10000 times, and thus a kind of high frequency electric of radio frequency. High frequency (more than 10K); Radio frequency (300K-300G) is the higher frequency band of high frequency; Microwave frequency band (300M-300G) is again the higher frequency band of radio frequency.
Radio-frequency (RF) ablation or microwave ablation determine 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 control formula mechanical arm Wicresoft intervention ablation system that can be accurately positioned that diseased region accurately carrying out melts.
Summary of the invention
In view of this, it is an object of the invention to provide a kind of control formula mechanical arm Wicresoft intervention ablation system, it is achieved being accurately positioned tumor, mechanical arm produces displacement and melts, it is not necessary to the hand-held ablation needle of doctor, effectively prevents the ray injury to clinician body.
Concrete, for achieving the above object, the present invention provides following technical scheme:
A kind of control formula mechanical arm Wicresoft intervention ablation system, including central control unit, positioning imaging device and melt execution device, described positioning imaging device electrically connects with central control unit respectively with melting execution 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; the size of diseased region image changes into displacement through melting control unit according to default program
The described execution device that melts includes main frame, it is arranged at the mechanical arm on main frame and is positioned at the ablation needle of mechanical arm end, melt the mechanical arm performing device and navigate to diseased region according to described displacement under the control melting control unit, diseased region image is carried out radio-frequency (RF) ablation, described main frame includes the radiofrequency generator for exporting radio-frequency current and the microwave ablation instrument of output microwave current, described main frame starts radiofrequency generator or microwave ablation instrument under the control melting control unit, thus exporting radio-frequency current or microwave current, reach ablation needle, described ablation needle gives off radio-frequency (RF) energy or microwave energy,
Described mechanical arm includes base flange, top flange and the six shaft mechanical arms being arranged between base flange and top flange.
Further, six shaft mechanical arms include the first connection axle, the second connection axle, the 3rd connection axle, the 4th connection axle, the 5th connection axle and the 6th connection axle, 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 between second connection axle and the 3rd connection axle, between the 3rd connection axle and the 4th connection axle, is provided with the second mechanical arm body of rod.
Further, described mechanical arm end is provided with clamping device, and described clamping device is used for clamping ablation needle.
Further, displacement is a succession of continuous print value.
Further, described central control unit is provided with monitoring screen, and described monitoring screen is connected with control software design unit.
Further, described ablation needle top is provided with temperature sensor and the chiller being connected with temperature sensor, described temperature sensor and chiller for adjusting the operating temperature of ablation needle.
Further, described positioning imaging device is portable C-arm X-ray production apparatus, and portable C-arm is in conjunction with DSA and CBCT technology, and namely digital subtraction angiography and cone beam are thrown according to calculating restructuring fault image, it is achieved dimensional visualization.
Further, described ablation needle is provided with one or more.
Compared with prior art, the beneficial effects are mainly as follows the following aspects:
1, radio frequency, microwave thermal field distribution are uniform, and energy is concentrated, and the thermal efficiency is high, and treatment time is short;
2, multiple ablation needle is set, is simultaneously operable, bigger ablated volume can be reached;
3, during treatment, downright bad prevention freezing range 360 �� of quick outward expansion around ablation needle, pathological changes is stoped and melts thoroughly, curative effect is directly notable, and congested band is narrower, it is achieved clinical tumor bends inactivation;
4, execution device is melted under the control of central control unit, realize being accurately positioned tumor, mechanical arm produces displacement and melts, six shaft mechanical arms make mechanical arm realize 360 �� of rotations, ablation system is made more to be precisely controlled puncture angle, further ensure that operation safety, and effectively prevent the ray injury to clinician body.
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 structural representation of control formula mechanical arm Wicresoft intervention ablation system disclosed in the embodiment of the present invention.
Fig. 2 is the structural representation of mechanical arm disclosed in the embodiment of the present invention.
Detailed description of the invention
Refer to Fig. 1, a kind of control formula mechanical arm Wicresoft intervention ablation system, including central control unit 5, positioning imaging device 6 and melt execution device, described positioning imaging device electrically connects with central control unit respectively with melting execution device,
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.
The described execution device that melts includes main frame 4, it is arranged at the mechanical arm 1 on main frame and is positioned at the ablation needle 3 of mechanical arm end, melt the mechanical arm performing device and navigate to diseased region according to described displacement under the control melting control unit, diseased region image is carried out radio-frequency (RF) ablation, described main frame includes the radiofrequency generator 41 for exporting radio-frequency current and the microwave ablation instrument 42 of output microwave current, described main frame starts radiofrequency generator or microwave ablation instrument under the control melting control unit, thus exporting radio-frequency current or microwave current, reach ablation needle, described ablation needle gives off radio-frequency (RF) energy or microwave energy. according to actual operation needs, Selection of chiller can be exported radio-frequency current or microwave current.
Refer to Fig. 2 below, mechanical arm 1 includes base flange 101, top flange 103 and the six shaft mechanical arms being arranged between base flange and top flange.
Further, 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 between second connection axle and the 3rd connection axle, between the 3rd connection axle and the 4th connection axle, is provided with the second mechanical arm body of rod. First connect axle, second connect axle, the 3rd connect axle, the 4th connect axle, the 5th connect axle and the 6th connect axle can do 360 �� of rotations so that mechanical arm can 360 �� of rotations, be greatly improved the accuracy of puncture angle.
Described mechanical arm end is provided with clamping device, and described clamping device is used for clamping ablation needle. Being provided with propulsion plant 2 between mechanical arm and ablation needle, clamping device is arranged on propulsion plant, and propulsion plant is for advancing the slip of ablation needle.
Further, displacement is a succession of continuous print value.
Further, described central control unit is provided with monitoring screen, and described monitoring screen is connected with control software design unit.
Further, described ablation needle top is provided with temperature sensor and the chiller being connected with temperature sensor, described temperature sensor and chiller for adjusting the operating temperature of ablation needle. The explanation at ablation needle top is as follows: contact one end of sufferer for bottom with ablation needle, then the other end of ablation needle is top.
Further; described positioning imaging device is portable C-arm X-ray production apparatus; portable C-arm is in conjunction with DSA and CBCT technology; namely digital subtraction angiography and cone beam are thrown according to calculating restructuring fault image, it is achieved real-time three-dimensional dynamic reconstruction picture, and doctor carrys out operating robotic arm by picture and carries out being punctured to target spot; carry out zone of control to melt; killing tumor cell, it is achieved tele-medicine, protection doctor is not by the injury of ray.
Further, described ablation needle is provided with one or more.
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. one kind controls formula mechanical arm Wicresoft intervention ablation system, it is characterised in that includes central control unit, positioning imaging device and melts execution device, and described positioning imaging device electrically connects with central control unit respectively with melting execution 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; the size of diseased region image changes into displacement through melting control unit according to default program
The described execution device that melts includes main frame, it is arranged at the mechanical arm on main frame and is positioned at the ablation needle of mechanical arm end, melt the mechanical arm performing device and navigate to diseased region according to described displacement under the control melting control unit, diseased region image is carried out radio-frequency (RF) ablation, described main frame includes the radiofrequency generator for exporting radio-frequency current and the microwave ablation instrument of output microwave current, described main frame starts radiofrequency generator or microwave ablation instrument under the control melting control unit, thus exporting radio-frequency current or microwave current, reach ablation needle, described ablation needle gives off radio-frequency (RF) energy or microwave energy,
Described mechanical arm includes base flange, top flange and the six shaft mechanical arms being arranged between base flange and top flange.
2. as claimed in claim 1 control formula mechanical arm Wicresoft intervention ablation system, it is characterized in that, described six shaft mechanical arms include the first connection axle, the second connection axle, the 3rd connection axle, the 4th connection axle, the 5th connection axle and the 6th connection axle, first connects axle and second connects axle connection, 4th connection axle, the 5th connection axle, the 6th connection axle are sequentially connected with, it is provided with the first mechanical arm body of rod between second connection axle and the 3rd connection axle, between the 3rd connection axle and the 4th connection axle, is provided with the second mechanical arm body of rod.
3. as claimed in claim 1 control formula mechanical arm Wicresoft intervention ablation system, it is characterised in that described mechanical arm end is provided with clamping device, and described clamping device is used for clamping ablation needle.
4. control according to claim 1 formula mechanical arm Wicresoft intervention ablation system, it is characterised in that displacement is a succession of continuous print value.
5. control according to claim 1 formula mechanical arm Wicresoft intervention ablation system, 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.
6. control according to claim 1 formula mechanical arm Wicresoft intervention ablation system, it is characterized in that: described ablation needle top is provided with temperature sensor and the chiller being connected with temperature sensor, described temperature sensor and chiller for adjusting the operating temperature of ablation needle.
7. control according to claim 1 formula mechanical arm Wicresoft intervention ablation system, it is characterised in that described positioning imaging device is portable C-arm X-ray production apparatus.
8. control according to claim 1 formula mechanical arm Wicresoft intervention ablation system, it is characterised in that described ablation needle is provided with one or more.
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| CN201610101880.0A CN105615997A (en) | 2016-02-25 | 2016-02-25 | Minimally-invasive intervention ablation system with control-type mechanical arm |
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| CN201610101880.0A CN105615997A (en) | 2016-02-25 | 2016-02-25 | Minimally-invasive intervention ablation system with control-type mechanical arm |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106214253A (en) * | 2016-08-15 | 2016-12-14 | 苏州安术医疗科技有限公司 | Lesions position diagnoses and treatment all-in-one |
| CN108606839A (en) * | 2018-05-21 | 2018-10-02 | 华志微创医疗科技（北京）有限公司 | A kind of long-range skull micro wound surgery systems for burst accident |
| CN112741693A (en) * | 2021-01-14 | 2021-05-04 | 北京华康同邦科技有限公司 | Microwave ablation robot |
| CN113577542A (en) * | 2020-04-30 | 2021-11-02 | 道鑛有限公司 | Health care device |
| WO2022141138A1 (en) * | 2020-12-30 | 2022-07-07 | 诺创智能医疗科技(杭州)有限公司 | Hybrid master-slave mapping method, robotic arm system, and computer device |
| CN116712173A (en) * | 2023-05-24 | 2023-09-08 | 首都医科大学宣武医院 | pedicle puncture robot |
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| CN116712173A (en) * | 2023-05-24 | 2023-09-08 | 首都医科大学宣武医院 | pedicle puncture robot |
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