阅读说明：本技术 一种磁力辅助的临时性近距离放疗多功能自动插针装置 (Supplementary interim closely multi-functional automatic pin device of radiotherapy of magnetic force ) 是由 张锦平 李嘉赓 姚进 于 2021-03-22 设计创作，主要内容包括：本发明涉及医疗器械技术领域,具体地说是一种在临时性近距离放疗中能自动地将插植针插入人体组织、自动拔针芯、自动更换插植针的多功能自动插针装置；能改善医生插针主要依靠手感与经验判断带来的不稳定、不准确等问题；包括多自由度机器人(1)、移动单元(2)、移动夹紧单元、引导模单元、夹紧单元；装置的功能是自动完成临时性近距离放疗插针工作,其工作流程是：夹取插植针、进针、拔针芯、放针芯；多自由度机器人(1)与固定的平台形成固定连接,移动单元(2)与多自由度机器人(1)的末端形成固定连接,移动夹紧单元与移动单元(2)形成移动副,夹紧单元与移动单元(2)形成移动副,多根插植针与多个引导模单元分别预先组装在一起。(The invention relates to the technical field of medical instruments, in particular to a multifunctional automatic needle inserting device which can automatically insert an inserting needle into human tissues, automatically pull out a needle core and automatically replace the inserting needle in temporary brachytherapy; the problems of instability, inaccuracy and the like caused by the fact that the doctor inserts the needle mainly depends on hand feeling and experience judgment can be solved; the robot comprises a multi-degree-of-freedom robot (1), a moving unit (2), a moving clamping unit, a guide die unit and a clamping unit; the device has the function of automatically completing the work of the temporary brachytherapy needle inserting, and the work flow is as follows: clamping and inserting a needle, inserting the needle, pulling a needle core and placing the needle core; the multi-degree-of-freedom robot (1) is fixedly connected with a fixed platform, the moving unit (2) is fixedly connected with the tail end of the multi-degree-of-freedom robot (1), the moving clamping unit and the moving unit (2) form a moving pair, the clamping unit and the moving unit (2) form a moving pair, and the inserting needles and the guide die units are assembled together in advance respectively.)

1. A multifunctional automatic needle inserting device for temporary brachytherapy assisted by magnetic force comprises a multi-degree-of-freedom robot (1), a moving unit (2), a moving clamping unit, a guide die unit and a clamping unit; the method is characterized in that: the multi-degree-of-freedom robot (1) is fixedly connected with a fixed platform, the moving unit (2) is fixedly connected with the tail end of the multi-degree-of-freedom robot (1), the moving clamping unit and the moving unit (2) form a moving pair, the clamping unit and the moving unit (2) form a moving pair, and the inserting needles and the guide die units are assembled together in advance respectively;

the movable clamping unit comprises a sliding block (3), a lower clamping plate (6), an upper clamping plate (5) and a clamping sliding block (4); the sliding block (3) and the moving unit (2) form a moving pair, and the moving clamping unit can move on the moving unit (2); the lower clamping plate (6) is fixedly connected with the sliding block (3); the upper clamping plate (5) is fixedly connected with the clamping slide block (4); the clamping slide block (4) and the slide block (3) form a moving pair, and when the clamping slide block (4) moves, the upper clamping plate (5) is separated from or close to the lower clamping plate (6), so that the insertion needle (11) can be loosened or clamped; the upper clamping plate (5) and the lower clamping plate (6) can clamp the needle core at the tail end of the inserting needle and form shape fit with the needle core at the tail end of the inserting needle, so that the needle core of the inserting needle is firmly clamped;

the guide die unit comprises a lower guide die half (9) and an upper guide die half (10); permanent magnets are arranged in the lower half (9) of the guide die and the upper half (10) of the guide die, so that magnetic field force exists between the permanent magnets, the permanent magnets and the upper half are mutually attracted, and a guide channel can be formed by combining the permanent magnets and the upper half; after the lower half (9) of the guide die and the upper half (10) of the guide die are combined, the formed appearance can be matched with the clamping unit, so that the clamping unit can firmly clamp the guide die unit;

the clamping unit comprises a lower clamping block (7) and an upper clamping block (8); the lower clamping block (7) and the moving unit (2) form a moving pair, the upper clamping block (8) and the moving unit (2) form a moving pair, and the lower clamping block (7) and the upper clamping block (8) move to realize mutual approaching or separating and can be matched with the shape of the guide die unit and clamp the guide die unit;

as shown in fig. 3 and 4, the upper half (10) and the lower half (9) of the guide die are both provided with semicircular grooves, when the upper half and the lower half are closed, the semicircular grooves form a circular hole to form a guide channel, and an inserting needle (11) can enter the circular hole;

the lower clamping block (7) and the upper clamping block (8) are provided with electromagnets, when the electromagnets work, the lower clamping block (7) attracts a lower half (9) of the guide die which is in contact with the lower clamping block, and the upper clamping block (8) attracts an upper half (10) of the guide die which is in contact with the upper clamping block; the lower clamping block (7) and the upper clamping block (8) are separated again, so that the upper half (10) of the guide die is separated from the lower half (9) of the guide die.

2. The multifunctional automatic pin inserting device for magnetic force assisted temporary brachytherapy according to claim 1, characterized in that: before the insertion operation, a plurality of insertion needles are respectively assembled with a plurality of guide die units and placed at designated positions, the upper half (10) and the lower half (9) of the guide die are combined by magnetic force and form a guide channel, the insertion needles (11) are put into the guide channel in advance, and the guide die units and the insertion needles (11) have proper friction force and cannot easily move relatively.

Technical Field

The invention relates to the technical field of medical instruments, in particular to a multifunctional automatic needle inserting device which can automatically insert an inserting needle into human tissues, automatically pull out a needle core and automatically replace the inserting needle in temporary brachytherapy.

Background

In temporary brachytherapy, such as cervical cancer brachytherapy and prostate cancer brachytherapy, an insertion needle is required to be used, and the insertion needle is arranged in human tissue to create a moving space for strong radioactive particles; the insertion needle is a fine blind hole plastic tube, and is provided with a needle core inside, so that the bending resistance of the insertion needle can be improved, the needle core is not completely immersed in the blind hole plastic tube, and the tail end of the needle core is arranged outside the blind hole plastic tube; in the operation process of inserting the insertion needle into the human tissue, the needle core is placed into the blind hole plastic tube in advance, a doctor holds the insertion needle with hands, the insertion needle is inserted into the human tissue to a proper depth with the help of an auxiliary tool, then the doctor tightly pinches the blind hole plastic tube with one hand and grasps the tail end of the needle core with the other hand to pull out the steel needle; after inserting one needle, the doctor can insert a proper number of inserting needles according to the requirement; taking cervical cancer brachytherapy as an example, the length of the insertion needle is about 24 cm, the insertion needle needs to be inserted into the vagina for about 10 cm, the insertion needle cannot encounter resistance in the process, and the insertion needle can encounter resistance and risk of bending deformation in the process of being inserted into cervical orifice tissues.

At present, the brachytherapy needle inserting operation is generally manually operated by a doctor, and related auxiliary tools are mostly templates for positioning, for example, a deformable applicator template for a cervical cancer inter-tissue inserting needle disclosed in chinese patent CN 202010943366.8.

In the process of manual insertion of the needle by a doctor, the needle is mainly judged by hand feeling and experience, so that the problems of angular deviation, tissue perforation, needle path deviation, high labor intensity and the like are serious, and the implantation accuracy of the insertion needle is influenced.

At present, an automatic auxiliary device is also provided, for example, an automatic positioning mechanism for assisting tumor radiotherapy particle implantation disclosed in chinese patent CN201610925350.8, which can accurately position a radiotherapy particle implantation template, and has the advantages of improving the positioning precision of the template and improving the speed of positioning adjustment.

Disclosure of Invention

The invention provides a multifunctional automatic needle inserting device which can automatically insert an inserting needle into human tissues, automatically pull a needle core and automatically replace the inserting needle in temporary brachytherapy aiming at the problems that the inserting needle is seriously affected by the fact that a doctor's inserting needle is mainly judged by hand feeling and experience in temporary brachytherapy, the angle deviation, tissue perforation, needle channel deviation, high labor intensity and the like.

The invention provides a magnetic force-assisted temporary brachytherapy multifunctional automatic pin inserting device which comprises a multi-degree-of-freedom robot, a moving unit, a moving clamping unit, a guide die unit and a clamping unit, wherein the multi-degree-of-freedom robot is connected with the moving clamping unit through a connecting rod; the device has the function of automatically completing the work of the temporary brachytherapy needle inserting, and the work flow is as follows: clamping and inserting a needle, inserting the needle, pulling a needle core and placing the needle core; the multi-degree-of-freedom robot has the function of moving the tail end device to a proper position and increasing the motion range; the movable end member is used for providing linear motion to finish the linear motion required by needle insertion and needle core taking; the movable clamping unit is used for clamping the insertion needle, so that the linear motion of the movable unit can be transmitted to the insertion needle; the guide die unit is used for providing guidance and reducing the bending of the insertion needle; the clamping unit is used for fixing and clamping the guide die unit and clamping the insertion needle.

A multifunctional automatic needle inserting device for temporary brachytherapy assisted by magnetic force comprises a multi-degree-of-freedom robot, a moving unit, a moving clamping unit, a guide die unit and a clamping unit; the multi-degree-of-freedom robot is fixedly connected with the fixed platform, the moving unit is fixedly connected with the tail end of the multi-degree-of-freedom robot, the moving clamping unit and the moving unit form a moving pair, the clamping unit and the moving unit form a moving pair, and the inserting needles and the guide die units are assembled together in advance respectively.

The moving pair between the moving clamping unit and the moving unit can be realized by a screw nut, an electric cylinder, an air cylinder, a hydraulic cylinder, a linear motor and the like.

The movable clamping unit comprises a sliding block, a lower clamping plate, an upper clamping plate and a clamping sliding block; the sliding block and the moving unit form a moving pair, and the moving clamping unit can move on the moving unit; the lower clamping plate is fixedly connected with the sliding block; the upper clamping plate is fixedly connected with the clamping slide block; the clamping slide block and the slide block form a moving pair, and when the clamping slide block moves, the upper clamping plate and the lower clamping plate are separated or close to each other, so that the insertion needle can be loosened or clamped; the upper clamping plate and the lower clamping plate can clamp the needle core at the tail end of the inserting needle and form shape fit with the needle core at the tail end of the inserting needle, so that the needle core of the inserting needle is firmly clamped.

The guide die unit comprises a lower guide die half and an upper guide die half; permanent magnets are arranged in the lower half of the guide die and the upper half of the guide die, so that magnetic field force exists between the permanent magnets and the upper half of the guide die, the permanent magnets and the lower half of the guide die and the upper half of the guide die are mutually attracted, and a guide channel can be formed by combining the permanent magnets and the upper half of the guide die; after the lower half of the guide die and the upper half of the guide die are combined, the formed appearance can be matched with the clamping unit, so that the guide die unit can be firmly clamped by the clamping unit.

The clamping unit comprises a lower clamping block and an upper clamping block; the lower clamping block and the moving unit form a moving pair, the upper clamping block and the moving unit form a moving pair, and the lower clamping block and the upper clamping block move to mutually approach or separate and can be matched with the shape of the guide die unit and clamp the guide die unit.

The upper half part and the lower half part of the guide die are both provided with semicircular grooves, and when the upper half part and the lower half part of the guide die are closed, the semicircular grooves form a round hole to form a guide channel, and the inserting needle can enter the round hole.

The lower clamping block and the upper clamping block are provided with electromagnets, when the electromagnets work, the lower clamping block attracts the lower half of the guide die contacted with the lower clamping block, and the upper clamping block attracts the upper half of the guide die contacted with the upper clamping block; and separating the lower clamping block from the upper clamping block so as to separate the upper half of the guide die from the lower half of the guide die.

Before the insertion operation, a plurality of insertion needles are respectively assembled with a plurality of guide die units and placed at designated positions, the upper half part and the lower half part of the guide die are combined by magnetic field force and form a guide channel, the insertion needles are put into the guide channel in advance, and the guide die units and the insertion needles have proper friction force and cannot easily move relatively.

A supplementary interim multi-functional automatic pin inserting device of brachytherapy of magnetic force can press from both sides and get and insert the needle of planting, its step as follows: firstly, guiding a die unit and an inserting needle to be assembled and placed at a specified position; then the multi-degree-of-freedom robot moves the tail end of the device to a proper position, the movable clamping unit moves to the rear end of the movable unit, the insertion needle is positioned between the lower clamping plate and the upper clamping plate, and then the clamping slide block moves to enable the upper clamping plate and the lower clamping plate to clamp the insertion needle.

The movable clamping unit can move the insertion needle forwards for a certain distance, and the steps are as follows: firstly, the movable clamping unit is moved to the rear end of the movable unit, then the clamping slide block of the movable clamping unit moves to enable the lower clamping plate and the upper clamping plate to clamp the insertion needle, and then the movable clamping unit moves forwards integrally.

The magnetic force assisted temporary brachytherapy multifunctional automatic needle inserting device can extract a needle core, and the state before the needle core is extracted is that a movable clamping unit clamps the tail end of an inserting needle, so that the inserting needle enters a certain depth of human tissues, and the steps are as follows on the basis: firstly, the upper clamping block and the lower clamping block move, and on the basis of keeping the lower half of the guide die and the upper half of the guide die closed, the clamping unit further clamps the plastic shell of the inserting needle, so that the plastic shell of the inserting needle and the clamping unit do not move relatively; then moving the clamping unit backwards to pull the needle core out of the plastic shell of the inserting needle for a certain distance; completely taking out the needle core from the inserting and planting needle; then the electromagnets of the upper clamping block and the lower clamping block work, the lower clamping block attracts the lower half of the guide die contacted with the lower clamping block, the upper clamping block attracts the upper half of the guide die contacted with the upper clamping block, the lower clamping block is separated from the upper clamping block again, so that the upper half of the guide die is separated from the lower half of the guide die, then the multi-freedom robot moves the tail end to a proper position, the needle core is placed at the proper position, and the electromagnets of the upper clamping block and the lower clamping block stop working, so that the upper half of the guide die and the lower half of the guide die fall from the clamping unit.

The magnetic force assisted temporary brachytherapy multifunctional automatic needle inserting device completes automatic needle inserting work according to the following steps: firstly, assembling a plurality of transplanting needles with a plurality of guide die units respectively and placing the transplanting needles at specified positions, and then clamping the transplanting needles; then the upper clamping block and the lower clamping block move, and the clamping unit fixes the guide die unit; then the multi-degree-of-freedom robot finishes the positioning work to enable the insertion needle to follow the designed needle path; then the inserting needle moves forward for a certain distance; then moving the clamping unit to clamp the tail end of the inserting needle, and enabling the inserting needle to slowly move forwards to be inserted into the human tissue to a certain depth; the core is then withdrawn.

The beneficial effects of the invention are: 1) the automatic needle inserting device can realize the automatic needle inserting of the temporary brachytherapy, and automatically complete the work of clamping and inserting the needle, taking the needle core and the like according to the sequence; 2) the device has high integration level and stable pin inserting effect.

Drawings

Fig. 1 is a diagrammatic view of a multi-functional automatic needle insertion device for magnetic force assisted temporary brachytherapy.

Fig. 2 is a diagrammatic view of a multifunctional automatic needle inserting device clamping and inserting needle for magnetic force auxiliary temporary brachytherapy.

Fig. 3 is a structural view of the lower half of the guide die.

Fig. 4 is an assembly view of the guide die unit and the insertion needle.

Description of the main symbols: 1. the multi-degree-of-freedom robot comprises a multi-degree-of-freedom robot body, a moving unit, a sliding block 3, a clamping sliding block 4, an upper clamping plate 5, a lower clamping plate 6, a lower clamping block 7, an upper clamping block 8, a guide die lower half 9, a guide die upper half 10 and an insertion needle 11.

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings.

The first embodiment: as shown in fig. 1, a multifunctional automatic pin inserting device for temporary brachytherapy assisted by magnetic force comprises a multi-degree-of-freedom robot 1, a moving unit 2, a moving clamping unit, a guiding module unit and a clamping unit; the device has the function of automatically completing the work of the temporary brachytherapy needle inserting, and the work flow is as follows: clamping and inserting the needle 11, inserting the needle, pulling the needle core and placing the needle core; the multi-degree-of-freedom robot 1 is fixedly connected with a fixed platform, the mobile unit 2 is fixedly connected with the tail end of the multi-degree-of-freedom robot 1, the mobile clamping unit and the mobile unit 2 form a mobile pair, the clamping unit and the mobile unit 2 form a mobile pair, and the inserting needles and the guide die units are assembled together in advance respectively.

The moving pair between the moving clamping unit and the moving unit 2 can be realized by a screw nut, an electric cylinder, an air cylinder, a hydraulic cylinder, a linear motor and the like.

The movable clamping unit comprises a sliding block 3, a lower clamping plate 6, an upper clamping plate 5 and a clamping sliding block 4; the slide block 3 and the moving unit 2 form a moving pair, and the moving clamping unit can move on the moving unit 2; the lower clamping plate 6 is fixedly connected with the sliding block 3; the upper clamping plate 5 and the clamping slide block 4 form fixed connection; the clamping slide block 4 and the slide block 3 form a moving pair, and when the clamping slide block 4 moves, the upper clamping plate 5 is separated from or close to the lower clamping plate 6, so that the insertion needle 11 can be loosened or clamped; the upper clamping plate 5 and the lower clamping plate 6 can clamp the needle core at the tail end of the inserting needle and form a shape fit with the needle core at the tail end of the inserting needle, so that the needle core of the inserting needle is firmly clamped.

The guide die unit comprises a lower guide die half 9 and an upper guide die half 10; permanent magnets are arranged in the lower half 9 of the guide die and the upper half 10 of the guide die, so that magnetic field force exists between the permanent magnets, the permanent magnets attract each other, and a guide channel can be formed by combination of the permanent magnets; after the lower guide die half 9 and the upper guide die half 10 are combined, the formed appearance can be matched with the clamping unit, so that the clamping unit can firmly clamp the guide die unit.

The clamping unit comprises a lower clamping block 7 and an upper clamping block 8; the lower clamping block 7 and the moving unit 2 form a moving pair, the upper clamping block 8 and the moving unit 2 form a moving pair, and the lower clamping block 7 and the upper clamping block 8 move to mutually approach or separate and can be matched with the shape of the guide die unit and clamp the guide die unit.

As shown in fig. 3 and 4, the upper guiding mold half 10 and the lower guiding mold half 9 have semicircular grooves, and when they are closed, the semicircular grooves form a circular hole to form a guiding channel into which the insertion needle 11 can enter.

The lower clamping block 7 and the upper clamping block 8 are provided with electromagnets, when the electromagnets work, the lower clamping block 7 attracts the lower half 9 of the guide die which is in contact with the electromagnets, and the upper clamping block 8 attracts the upper half 10 of the guide die which is in contact with the electromagnets; the lower clamping block 7 is separated again from the upper clamping block 8, so that the upper guide die half 10 is separated from the lower guide die half 9.

Before the insertion operation, a plurality of insertion needles are respectively assembled with a plurality of guide mold units and placed at designated positions, the upper half 10 and the lower half 9 of the guide mold are combined by magnetic force and form a guide channel, the insertion needles 11 are previously placed in the guide channel, and the guide mold units and the insertion needles 11 have proper friction force and cannot easily move relatively.

As shown in fig. 2, the multifunctional automatic pin inserting device for magnetic force assisted temporary brachytherapy can clamp the inserting pin 11, and the steps are as follows: firstly, guiding the mould unit and the inserting needle 11 to be assembled and placed at a designated position; then the multi-degree-of-freedom robot 1 moves the tail end to a proper position, the movable clamping unit moves to the rear end of the movable unit 2, the insertion needle 11 is located between the lower clamping plate 6 and the upper clamping plate 5, and then the clamping slide block 4 moves, so that the insertion needle 11 is clamped by the upper clamping plate 5 and the lower clamping plate 6.

The movable clamping unit can move the insertion needle 11 forward for a certain distance, and the steps are as follows: first, the movable clamp unit is moved to the rear end of the movable unit 2, then the clamp slider 4 of the movable clamp unit is moved to clamp the insertion needle 11 with the lower clamp plate 6 and the upper clamp plate 5, and then the movable clamp unit is moved forward as a whole.

The multifunctional automatic needle inserting device for the magnetic force assisted temporary brachytherapy can extract a needle core, and the state before the needle core is extracted is that a movable clamping unit clamps the tail end of an inserting needle 11, so that the inserting needle 11 enters a certain depth of human tissues, and the steps are as follows on the basis: firstly, the upper clamping block 8 and the lower clamping block 7 move, and on the basis of keeping the lower half 9 of the guide die and the upper half 10 of the guide die closed, the clamping unit further clamps the plastic shell of the insertion needle 11, so that the insertion needle 11 and the clamping unit do not move relatively; then moving the clamping unit backwards to pull the needle core out of the plastic shell of the inserting needle for a certain distance; completely taking out the needle core from the inserting needle 11; then the upper clamping block 8 and the electromagnet of the lower clamping block 7 work, the lower clamping block 7 attracts the lower half 9 of the guide die which is in contact with the lower clamping block, the upper clamping block 8 attracts the upper half 10 of the guide die which is in contact with the upper clamping block, the lower clamping block 7 is separated from the upper clamping block 8 again, so that the upper half 10 of the guide die is separated from the lower half 9 of the guide die, then the multi-free robot 1 moves the tail end to a proper position, the needle core is placed to the proper position, and the electromagnet of the upper clamping block 8 and the lower clamping block 7 stops working, so that the upper half 10 of the guide die and the lower half 9 of the guide die fall from the clamping unit.

The magnetic force assisted temporary brachytherapy multifunctional automatic needle inserting device completes automatic needle inserting work according to the following steps: firstly, assembling a plurality of transplanting needles with a plurality of guide die units respectively and placing the transplanting needles at specified positions, and then clamping the transplanting needles 11; then the upper clamping block 8 and the lower clamping block 7 move, and the clamping unit fixes the guide die unit; then the multi-degree-of-freedom robot 1 finishes the positioning work, so that the insertion needle 11 is along the designed needle path; then the insertion needle 11 is moved forward a distance; then moving the clamping unit to clamp the tail end of the inserting needle 11, and enabling the inserting needle 11 to slowly move forwards to be inserted into the human tissue to a certain depth; the core is then withdrawn.