阅读说明：本技术 穿刺取活检及消融系统 (Puncture biopsy and ablation system ) 是由 谷猛 王�忠 徐欢 陈其 夏静 刘冲 于 2021-10-11 设计创作，主要内容包括：本申请公开了一种穿刺取活检及消融系统。该穿刺取活检及消融系统包括固定基座、第一机械臂、第二机械臂以及数据处理设备；所述第一机械臂包括第一机械臂和超声波探头；所述第二机械臂包括第二机械臂和穿刺消融针；所述数据处理设备分别连接至所述第一机械臂及所述第二机械臂；所述数据处理设备根据所述穿刺消融针的实时位置及所述病灶位置确定所述穿刺消融针穿刺至病灶位置的穿刺路径。本专利利用机器人定位穿刺消融技术,其手术难度小、创伤小、治疗效果好、后遗症发生率低,极大提高了患者术后生活质量。(The application discloses biopsy and ablation system is got in puncture. The system for taking the biopsy and the ablation by puncture comprises a fixed base, a first mechanical arm, a second mechanical arm and data processing equipment; the first mechanical arm comprises a first mechanical arm and an ultrasonic probe; the second mechanical arm comprises a second mechanical arm and a puncture ablation needle; the data processing equipment is respectively connected to the first mechanical arm and the second mechanical arm; and the data processing equipment determines a puncture path from the puncture ablation needle to the lesion position according to the real-time position of the puncture ablation needle and the lesion position. This patent utilizes the location puncture of robot to melt the technique, and its operation degree of difficulty is little, the wound is little, treatment is effectual, the sequelae incidence is low, has greatly improved patient postoperative quality of life.)

1. A needle biopsy and ablation system, comprising:

a fixed base;

one end of the first mechanical arm is installed on the fixed base, and the other end of the first mechanical arm is provided with an ultrasonic probe which is used for extending into the human body to collect the focus position of the human tissue organ;

one end of the second mechanical arm is installed on the fixed base, and the other end of the second mechanical arm is provided with a puncture ablation needle; and

the data processing equipment is respectively connected to the first mechanical arm and the second mechanical arm and used for controlling the actions of the first mechanical arm and the second mechanical arm and acquiring the real-time positions of the ultrasonic probe and the puncture ablation needle; and the data processing equipment calculates a puncture path from the puncture ablation needle to the lesion position according to the real-time position of the puncture ablation needle and the lesion position.

2. The needle biopsy and ablation system of claim 1,

the data processing equipment establishes a fixed base coordinate system based on the position of the fixed base;

the data processing equipment receives the image information returned by the ultrasonic probe and the coordinate information corresponding to the image information, and converts the coordinate information returned by the ultrasonic probe into coordinate information under a fixed base coordinate system by combining the pose relationship of the first mechanical arm and the second mechanical arm;

and the data processing equipment receives the needle point coordinate information returned by the puncture ablation needle, and converts the coordinate information returned by the puncture ablation needle into coordinate information under a fixed base coordinate system by calculating the position and posture relation between the fixed base coordinate and the second mechanical arm.

3. The system of claim 1, wherein the ultrasound probe extends through the rectum to below the prostate within the human body, and wherein the puncture path passes through the perineum such that the needle punctures through the perineum to a focal location within the prostate.

4. The system of claim 1, wherein the needle extends from a distal end of the needle to a filament, and the data processing device controls the second robotic arm to heat the filament; or the data processing equipment controls the radio frequency output of the thin electrode wire to enable the tissue cells at the focus position to vibrate and rub to generate heat.

5. The system of claim 1, wherein the ablation needle is provided with a biopsy hole at its front end, a flexible tube at its rear end, and a flexible tube connected to the biopsy hole; when the hose is under negative pressure, the biopsy taking hole absorbs and takes part of the cell tissue; when the liquid medicine is conveyed in the hose, the biopsy taking hole outputs the liquid medicine to the focus position.

6. The system of claim 1, wherein the data processing device comprises a human-machine interface for a user to monitor and control the pose of the first and second robotic arms, the energy output of the needle, and the activation of the ultrasound probe in real time.

7. The system of claim 1, wherein the first and second robotic arms are each six-axis articulated robotic arms; the fixed base comprises a base plate and a boss protruding from the top surface of the base plate, the first mechanical arm is mounted on the base plate, and the second mechanical arm is mounted on the side wall of the boss and located above the first mechanical arm.

8. The system of claim 1, wherein a pulley is disposed on a bottom portion of the fixed base.

9. The system of claim 1, further comprising a surgical fixation device positioned in front of the first and second robotic arms; the operation fixing device is in a ring shape, and the ultrasonic probe are correspondingly arranged in an annular area of the operation fixing device.

10. The system of claim 9, wherein the surgical fixation device is secured to the first or second robotic arm; the surgical fixation device includes an annular ring through which the ultrasonic probe and the ultrasonic probe can pass.

Technical Field

The invention relates to the technical field of medical instruments, in particular to a puncture biopsy taking and ablation system.

Background

Prostate hyperplasia causes unsmooth urination due to enlarged gland hyperplasia and blockage of the urethra, thereby causing a series of health problems, and all treatment modes aim to remove or shrink the hyperplastic gland tissues so that the urethra is unobstructed again. The traditional method for treating diseases related to prostatic hyperplasia generally adopts transurethral resection, has large wound, long operation time and long recovery period, and is easy to infect patients after operation.

At present, no medical apparatus aiming at the prostate puncture treatment has a solution for the ablation treatment by using a robot.

The patent CN112754616A discloses an ultrasonic positioning puncture system, which can determine the position conversion relationship between the reference coordinate system of the ultrasonic positioning puncture system and the coordinate system where the ultrasonic detection plane is located; and according to the position conversion relation and the first position information, determining second position information of the target point in the reference coordinate system, and improving the precision of the puncture operation. However, in the scheme, an ultrasonic probe of the ultrasonic detection device scans along the skin surface layer to determine a puncture target point at the skin surface layer position, when a tissue organ at the lower layer of the skin is the puncture target, the tissue organ goes deep into the body and cannot determine the puncture target, and a puncture structure is not disclosed, so that accurate targeted positioning cannot be performed on the prostate for puncture treatment.

Patent CN110575248A discloses a robot system for minimally invasive ablation surgery, which includes an ultrasonic arm, a surgical cart and two sets of main hands, but it is suitable for solving the problem that when the focus is too large, two ablation needles need to penetrate into the focus from different directions, so two sets of pose separating mechanical arms must be arranged to penetrate into the focus from different directions, and the problem that at least more than two doctors are needed, which results in high labor intensity is solved. However, the ultrasonic arm and the two sets of main hands are positioned in the same horizontal plane, and the ultrasonic arm is arranged between the two sets of pose separating mechanical arms, so that on one hand, the ultrasonic arm can only determine a puncture target point at the skin surface layer position and cannot position a tissue organ at the lower layer of the skin as a puncture target, and the two sets of pose separating mechanical arms cannot effectively perform puncture treatment on the prostate.

Therefore, the transurethral resection for treating the prostate can cause the problems of high operation difficulty, large wound, poor treatment effect and high sequelae incidence.

Disclosure of Invention

The invention aims to provide a puncture biopsy and ablation system, which is used for solving the technical problems that the prior medical apparatus for prostate puncture treatment has no solution for utilizing a robot to perform ablation treatment, can not position tissue organs at the lower layer of skin as a puncture target, and causes great operation difficulty, great trauma, poor treatment effect and high sequelae when the prostate is treated by transurethral resection.

In order to achieve the above object, an embodiment of the present invention provides a biopsy and ablation system, which includes a fixed base, a first mechanical arm, a second mechanical arm, and a data processing device; one end of the first mechanical arm is mounted on the fixed base, and the other end of the first mechanical arm is provided with an ultrasonic probe which is used for extending into a human body to collect the focus position of human tissue and organs; one end of each mechanical arm is arranged on the fixed base, and the other end of each mechanical arm is provided with a puncture ablation needle; the data processing equipment is arranged on the fixed base, is respectively connected to the first mechanical arm and the second mechanical arm, and is used for controlling the actions of the first mechanical arm and the second mechanical arm and acquiring the real-time positions of the ultrasonic probe and the puncture ablation needle; and the data processing equipment calculates a puncture path from the puncture ablation needle to the lesion position according to the real-time position of the puncture ablation needle and the lesion position.

Further, the data processing device establishes a fixed base coordinate system based on the position of the fixed base; the data processing equipment receives the image information returned by the ultrasonic probe and the coordinate information corresponding to the image information, and converts the coordinate information returned by the ultrasonic probe into coordinate information under a fixed base coordinate system by combining the pose relationship of the first mechanical arm and the second mechanical arm; and the data processing equipment receives the needle point coordinate information returned by the puncture ablation needle, and converts the coordinate information returned by the puncture ablation needle into coordinate information under a fixed base coordinate system by calculating the position and posture relation between the fixed base coordinate and the second mechanical arm.

Further, the ultrasonic probe extends into the lower part of the prostate in the human body through the rectum, and the puncture path passes through the perineum so that the puncture ablation needle punctures to the focus position in the prostate through the perineum.

Furthermore, a fine electrode wire extends out of the front end of the puncture ablation needle, and the data processing equipment controls the second mechanical arm to give electric energy to the fine electrode wire for heating; or the data processing equipment controls the radio frequency output of the thin electrode wire to enable the tissue cells at the focus position to vibrate and rub to generate heat.

Furthermore, the front end of the puncture ablation needle is provided with a biopsy taking hole, the rear end of the puncture ablation needle is connected with a hose, and the hose is connected to the biopsy taking hole; when the hose is under negative pressure, the biopsy taking hole absorbs and takes part of the cell tissue; when the liquid medicine is conveyed in the hose, the biopsy taking hole outputs the liquid medicine to the focus position.

Further, the data processing equipment comprises a human-computer interaction interface, and a user can monitor and control the poses of the first mechanical arm and the second mechanical arm, the energy output of the puncture ablation needle and the starting of the ultrasonic probe in real time.

Further, the first mechanical arm and the second mechanical arm are both six-axis joint mechanical arms; the fixed base comprises a base plate and a boss protruding from the top surface of the base plate, the first mechanical arm is mounted on the base plate, and the second mechanical arm is mounted on the side wall of the boss and located above the first mechanical arm.

Further, the bottom of the fixed base is provided with a pulley.

Further, the puncture biopsy and ablation system further comprises a surgical fixation device positioned in front of the first mechanical arm and the second mechanical arm; the operation fixing device is in a ring shape, and the ultrasonic probe are correspondingly arranged in an annular area of the operation fixing device.

Further, the surgical fixation device is fixed to the first robotic arm or the second robotic arm; the surgical fixation device includes an annular ring through which the ultrasonic probe and the ultrasonic probe can pass.

The invention has the beneficial effects that the puncture biopsy taking and ablation system is provided, the puncture biopsy taking and ablation system can enter the gland through the perineum and then be uniformly punctured at multiple points under the robot auxiliary system, corresponding electric energy is given, the puncture biopsy taking and ablation system is converted into heat energy in the gland, or the puncture biopsy taking and ablation system is given for drug therapy, so that the gland is withered and withered, and the aim of reducing the prostate gland is fulfilled. This patent utilizes the location puncture of robot to melt the technique, and its operation degree of difficulty is little, the wound is little, treatment is effectual, the sequelae incidence is low, has greatly improved patient postoperative quality of life.

Drawings

The technical solution and other advantages of the present application will be presented in the following detailed description of specific embodiments of the present application with reference to the accompanying drawings.

Fig. 1 is a schematic structural diagram of a biopsy and ablation system according to an embodiment of the present disclosure.

Fig. 2 is a schematic diagram of a biopsy and ablation system according to an embodiment of the present disclosure.

Fig. 3 is a schematic diagram illustrating the use of a biopsy and ablation system according to an embodiment of the present disclosure.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1, 2 and 3, an embodiment of the present application provides a biopsy and ablation system 10, which includes a fixed base 1, an ultrasonic positioning robot 2, an ablation robot 3 and a data processing device 4; the ultrasonic positioning robot 2 is mounted to the fixed base 1; the ultrasonic positioning robot 2 comprises a first mechanical arm 21 and an ultrasonic probe 22, wherein one end of the first mechanical arm 21 is mounted on the fixed base 1, the other end of the first mechanical arm is provided with the ultrasonic probe 22, the first mechanical arm 21 is used for adjusting the position of the ultrasonic probe 22, and the ultrasonic probe 22 is used for extending into a human body to collect the focus position of a tissue organ of the human body, obtaining an ultrasonic image and puncturing the image to the data processing equipment 4; the stab ablation robot 3 is mounted on the fixed base 1 and is positioned above the ultrasonic positioning robot 2; the ablation robot 3 comprises a second mechanical arm 31 and an ablation puncture needle 32, wherein one end of the second mechanical arm 31 is mounted on the fixed base 1, and the other end of the second mechanical arm is provided with the ablation puncture needle 32; the second mechanical arm 31 is used for adjusting the position of the ablation puncture needle 32, and the ablation puncture needle 32 punctures to the lesion position under the driving of the second mechanical arm 31 to perform ablation; the data processing device 4 is preferably arranged on the fixed base 1, and is respectively connected to the first mechanical arm 21 and the second mechanical arm 31, so as to control the actions of the first mechanical arm 21 and the second mechanical arm 31, and acquire the real-time positions of the ultrasonic probe 22 and the puncture ablation needle 32; the data processing device 4 calculates a puncture path from the puncture ablation needle 32 to the lesion position according to the real-time position of the puncture ablation needle 32 and the lesion position.

Specifically, the fixed base 1 includes a base plate 11 and a boss 12 protruding from a top surface of the base plate 11, the base plate 11 is provided with a first region and a second region, the boss 12 is located in the first region, the first robot arm 21 is mounted to the second region on the base plate 11, the second robot arm 31 is mounted to a side wall of the boss 12, and the second robot arm 31 is located above the first robot arm 21.

In this embodiment, the data processing device 4 establishes a fixed base coordinate system based on the position of the fixed base 1; the data processing device 4 receives the image information returned by the ultrasonic probe 22 and the coordinate information corresponding to the image information, and converts the coordinate information returned by the ultrasonic probe 22 into coordinate information in a fixed base coordinate system by combining the pose relationship between the first mechanical arm 21 and the second mechanical arm 31; the data processing device 4 receives the needle point coordinate information returned by the ablation needle 32, and converts the coordinate information returned by the ablation needle 32 into coordinate information in a fixed base coordinate system by calculating the position and posture relationship between the fixed base coordinate and the second mechanical arm 31.

In this embodiment, the ultrasonic probe 22 extends into the human body through the rectum to the lower part of the prostate, and the puncture path passes through the perineum, so that the puncture ablation needle 32 punctures to the focus position in the prostate through the perineum.

In this embodiment, the front end of the puncture ablation needle 32 extends out of a thin electrode wire, and the data processing device 4 controls the second mechanical arm 31 to give electric energy to the thin electrode wire for heating; or the data processing equipment 4 controls the radio frequency output of the thin electrode wire to enable the tissue cells at the focus position to generate heat through ion oscillation and friction. The fine electrode wires of the embodiment are provided with a plurality of fine electrode wires to form a structure with multi-point uniform puncture, the fine electrode wires are uniformly punctured into the gland through the perineum at multiple points under the auxiliary control of the data processing equipment 4, corresponding electric energy is given, and the fine electrode wires are converted into heat energy in the gland, so that the purpose of shrinking the prostate gland is achieved. This patent utilizes the location puncture of robot to melt the technique, and its operation degree of difficulty is little, the wound is little, treatment is effectual, the sequelae incidence is low, has greatly improved patient postoperative quality of life.

In another embodiment, the front end of the ablation puncture needle 32 is a biopsy hole, the rear end of the ablation puncture needle 32 is connected with a flexible tube, and the flexible tube is connected to the biopsy hole; when the hose is under negative pressure, the biopsy taking hole adsorbs and obtains partial cell tissues, so that the biopsy taking function is realized; when the liquid medicine is conveyed in the hose, the liquid medicine is output to the focus position from the biopsy hole, the gland is subjected to apoptosis and atrophy by utilizing the medicine treatment, and the aim of shrinking the prostate gland is fulfilled. This patent utilizes the location puncture of robot to melt the technique, and its operation degree of difficulty is little, the wound is little, treatment is effectual, the sequelae incidence is low, has greatly improved patient postoperative quality of life.

In this embodiment, the data processing device 4 includes a human-computer interface 41, which allows a user to monitor and control the poses of the first mechanical arm 21 and the second mechanical arm 31, the energy output of the ablation needle 32, and the activation of the ultrasound probe 22 in real time.

In this embodiment, the first robot arm 21 and the second robot arm 31 are both six-axis joint robot arms. All have the power accuse to detect on the six joint arms, stop work when meetting certain strength and assault, prevent the collision risk. The six-axis joint mechanical arm is used for rotating and scanning in vivo through ultrasonic and ultrasonic transrectal treatment to obtain the position of prostatic hyperplasia, and relative coordinates of the robot are established. The needed robot puncture ablation point is selected in a mode of manual marking by a doctor, the coordinate is transmitted to the puncture ablation needle 32 connected with the other six-axis joint mechanical arm, and then the puncture ablation needle 32 is controlled by the robot to puncture the action point to the hyperplasia point for ablation. The method realizes the effect of ablating the hyperplasia part, is more minimally invasive, can be operated immediately under local anesthesia, and does not damage the urethra.

In this embodiment, the bottom of the fixed base 1 is provided with a pulley 13. The pulley 13 can fix the position of the fixed base 1 by fixing the switch, preventing sliding.

Referring to fig. 1 and 3, in the present embodiment, the puncture biopsy and ablation system 10 further includes a surgical fixing device 5 located in front of the first mechanical arm 21 and the second mechanical arm 31; the operation fixing device 5 is annular, and the ultrasonic probe 22 are correspondingly arranged in an annular area of the operation fixing device 5. The operation fixing device 5 provides a supporting and fixing effect for the operation position of the patient, and ensures that the basic poses of the operation positions such as prostate, rectum and the like do not change greatly.

In this embodiment, the surgical fixing device 5 is fixed to the second mechanical arm 31, and the surgical fixing device 5 and the ablation needle 32 are arranged in parallel at the end of the second mechanical arm 31; the surgical fastening device 5 includes an annular ring through which the ultrasound probe 22 and the ultrasound probe 22 can pass. It is understood that the surgical fixing device 5 may also be fixed to the first mechanical arm 21, and the surgical fixing device 5 and the ultrasonic probe 22 are arranged side by side at the end of the first mechanical arm 21.

The patent is applicable to medical procedures and, for ease of analysis, the system procedure will be analyzed in the form of a simulation of a patient procedure, which does not include pre-operative preparation and anesthesia procedures, and which primarily involves the method of use of the biopsy and ablation system 10.

1) At the beginning of the operation, the patient is fixed to the surgical fixture 5 in a suitable posture (the specific posture is determined by the doctor), so that the perineum and the anus of the patient are exposed, the perineum is opposite to the second mechanical arm 31 on the same side, and the anus is opposite to the first mechanical arm 21 on the same side.

2) Can be used for disinfecting perineum of patient.

3) The first mechanical arm 21 is butted with the ultrasonic probe 22, and the second mechanical arm 31 is butted with the ablation needle 32, so that the ultrasonic probe 22 and the ablation needle 32 are kept relatively still with the corresponding robot 2.

4) The disposable ultrasonic protective sleeve is arranged on the ultrasonic probe 22 in a standard way, so that the aseptic operation is ensured.

5) By the data processing device 4, the pose of the six-axis mechanical arm in the first mechanical arm 21 is changed, so that the ultrasonic probe 22 slowly enters the rectum from the anus in fig. 3, and the ultrasonic generating device of the ultrasonic probe 22 faces the prostate.

6) The pose of the six mechanical arms in the second mechanical arm 31 is changed through the data processing device 4, so that the puncture ablation needle 32 is placed at a certain distance from the perineum puncture point in the figure 3 to prepare for puncture.

7) By the data processing device 4, the ultrasonic probe 22 is activated, and the poses of the six mechanical arms in the first mechanical arm 21 are changed to obtain the required prostate image information.

8) Through the interaction of the display screen of the data processing device 4, a doctor manually selects a puncture target area (namely a focus position), and selects the ablation energy and the time according to the size of a lesion to confirm the start of a puncture action.

9) The data processing device 4 acquires the pose relationship with the ultrasonic probe 22 using the coordinates with the fixed base 1, and acquires the target region coordinates selected by the doctor in the reference coordinate system.

10) The data processing device 4 calculates the path of the six mechanical arms of the second mechanical arm 31 and the puncture ablation needle 32 to the coordinates of the target region, and displays the puncture trajectory (i.e., puncture path).

11) When the doctor ensures that the puncture trajectory is appropriate, the doctor confirms the puncture again.

12) And the pose of the six mechanical arms in the second mechanical arm 31 is changed again through the data processing equipment 4, so that the puncture ablation needle 32 punctures from the perineum part to the target lesion area according to the calculated puncture path.

13) The physician confirms ablation when the puncture position is correct.

14) The needle 32 is controlled by the data processing device 4 to ablate at a given energy level and duration.

15) And confirming needle withdrawal when the doctor ensures successful ablation.

16) Through the data processing device 4, the pose of the six mechanical arms in the second mechanical arm 31 is changed, so that the puncture ablation needle 32 retreats reversely according to the original path and exits from the puncture target area.

17) If no other lesion area exists, the doctor issues an end instruction through the data processing device 4, and the data processing device 4 changes the pose of the six mechanical arms in the first mechanical arm 21, so that the ultrasonic probe 22 is withdrawn from the rectum.

18) The protective sleeve of the disposable ultrasonic probe 22 is taken down, the instrument is sterilized, and the operation is finished.

The invention has the beneficial effects that the puncture biopsy taking and ablation system is provided, the puncture biopsy taking and ablation system can enter the gland through the perineum and then be uniformly punctured at multiple points under the robot auxiliary system, corresponding electric energy is given, the puncture biopsy taking and ablation system is converted into heat energy in the gland, or the puncture biopsy taking and ablation system is given for drug therapy, so that the gland is withered and withered, and the aim of reducing the prostate gland is fulfilled. This patent utilizes the location puncture of robot to melt the technique, and its operation degree of difficulty is little, the wound is little, treatment is effectual, the sequelae incidence is low, has greatly improved patient postoperative quality of life.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The above embodiments of the present application are described in detail, and specific examples are applied in the present application to explain the principles and implementations of the present application, and the description of the above embodiments is only used to help understand the technical solutions and core ideas of the present application; those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure as defined by the appended claims.