CN106214253A - Lesions position diagnoses and treatment all-in-one - Google Patents
Lesions position diagnoses and treatment all-in-one Download PDFInfo
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- CN106214253A CN106214253A CN201610665524.1A CN201610665524A CN106214253A CN 106214253 A CN106214253 A CN 106214253A CN 201610665524 A CN201610665524 A CN 201610665524A CN 106214253 A CN106214253 A CN 106214253A
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- 230000003902 lesion Effects 0.000 title claims abstract description 19
- 238000002679 ablation Methods 0.000 claims abstract description 36
- 238000003384 imaging method Methods 0.000 claims abstract description 19
- 230000000694 effects Effects 0.000 claims abstract description 5
- 238000002844 melting Methods 0.000 claims description 9
- 230000008018 melting Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 231100000915 pathological change Toxicity 0.000 claims description 4
- 230000036285 pathological change Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 claims 1
- 206010028980 Neoplasm Diseases 0.000 abstract description 11
- 238000002059 diagnostic imaging Methods 0.000 abstract description 2
- 238000002591 computed tomography Methods 0.000 description 7
- 239000000155 melt Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000002595 magnetic resonance imaging Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000001225 therapeutic effect Effects 0.000 description 2
- 210000001519 tissue Anatomy 0.000 description 2
- 201000004569 Blindness Diseases 0.000 description 1
- 206010058046 Post procedural complication Diseases 0.000 description 1
- 208000035965 Postoperative Complications Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 230000018044 dehydration Effects 0.000 description 1
- 238000006297 dehydration reaction Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 230000002779 inactivation Effects 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000005226 mechanical processes and functions Effects 0.000 description 1
- 230000017074 necrotic cell death Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000002271 resection Methods 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Classifications
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
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- Heart & Thoracic Surgery (AREA)
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- High Energy & Nuclear Physics (AREA)
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Abstract
The invention discloses a kind of lesions position diagnoses and treatment all-in-one, including central control system, imaging system, mechanical arm lancing system and ablation system, described imaging system electrically connects with central control system respectively with ablation system, mechanical arm lancing system is connected with ablation system, and mechanical arm lancing system is mounted on U-shaped arm with ablation system, described mechanical arm lancing system punctures under the effect of ablation system, the present invention can realize general tumour and the diagnostic imaging of other focus thereof and by the ablation of threading a needle tumor targets of mechanical arm lancing system real-time and precise simultaneously.
Description
Technical field
The present invention relates to a kind of medical instruments field, be specifically related to a kind of lesions position diagnoses and treatment all-in-one.
Background technology
When inside of human body generation pathological changes, and the health of patient does not allow to carry out in the case of operation cuts off treatment, to have
Time need utilize puncture means focus is carried out biopsy or treatment (radio-frequency (RF) ablation, chemical ablation, radio-frequency (RF) ablation).Penetrate in recent years
Frequently ablation applications is more and more extensive, microwave refer to frequency between 300MHz-300GHz, wavelength arrived 1 meter (without 1 meter)
Frequency electromagnetic waves between 0.1 centimetre.Microwave also has wave particle dualism as a kind of electromagnetic wave.The energy of microwave quantum is 1
99 × l0-25～1.99 × 10-21 joule.Microwave magnetic field can make molecule high speed rotary motion the temperature arrising caused by friction of surrounding, from
And make tissue coagulation, dehydration necrosis, reach the purpose for the treatment of.Radio frequency, represents the electromagnetic frequency that can be radiated space, frequency model
Enclose between 300KHz～300GHz.It is exactly radio-frequency current that radio frequency is called for short RF radio frequency, and it is a kind of high-frequency ac change electromagnetic wave
Abbreviation.The change per second alternating current less than 1000 times is referred to as low-frequency current, the referred to as high frequency electric more than 10000 times, and penetrates
Frequency is exactly such a high frequency electric.High frequency (more than 10K)；Radio frequency (300K-300G) is the higher frequency band of high frequency；Microwave frequency band
(300M-300G) it is again the higher frequency band of radio frequency.
Radio-frequency (RF) ablation determines the orientation of focus and skin anchor point mostly by way of instrument such as CT/MRI scanning means
With the degree of depth of puncture needle (ablation needle), on the cross section of human body, first measure the position of focus, select optimal in this aspect
Inserting needle position and needle angle, utilize the three-dimensional conformation of inserting needle aspect, needle angle and depth of needle to determine focus and puncture needle
The exact position of (ablation needle) inserting needle.Although CT/MRI scanning means can accurately determine three-dimensional needle angle and inserting needle is deep
Degree, but patient is all carried out after CT/MRI scanning aspect removes by the process of puncturing operation, when patient leaves CT scan dress
When putting, doctor can only determine an inserting needle direction substantially, puncture according to the judgement of oneself, carry out CT scan the most again
Confirmed.When carrying out ablative surgery, skin entry point i.e. starts to puncture tumor targets after determining.Generally by angulation in puncture
Device determines that needle angle keeps consistent as far as possible with design puncture angle, but in actual mechanical process due to hand operation often
Error is relatively big, and abecedarian is difficult to the most accurately sting quasi-target spot.Often in piercing process, CT scan is needed repeatedly to confirm also
Adjust angle and the angle of human body fault plane of puncture needle.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, main cause is human body
The soft tissue at other positions is not fixed relative to the skeletal tissue position of surrounding, makes image space and patient space be difficult to acquirement one
The coordinate setting caused.Therefore other positions of human body get involved puncture go back the fixing guide-localization/appearance device of neither one can be by
Being fixed up in the direction of puncture needle, generally uses the guiding of real-time CT image, but owing to not puncturing guiding location/appearance, still deposit
Blindness in piercing process, the puncture instrument in doctor's hands does not has objective accurate position mark, is difficult at piercing process
Middle puncture needle is fixed on desired trajectory, need to can only constantly carry out image scan adjustment direction by the experience of doctor individual,
Final result or may have certain skew with ideal plan route, and time-consuming and affect therapeutic effect.It addition, during CT scan
Doctor holds puncture needle with hand steered, can suffer unnecessary roentgenization.
Due to artificial many factors, often result in inserting needle inaccurate, impact treatment precision.Sometimes for repeatedly entering
Pin, can cause time serious wearing by mistake, brings the most painful and risk to patient.Further, for tumor patient, during operation likely
Excision is not thorough, and this is also a kind of serious hidden danger to sufferer, 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 the diagnosis of lesions position collection and treatment are intended to an equipment
Lesions position diagnoses and treatment all-in-one.
Summary of the invention
In view of this, it is an object of the invention to provide a kind of lesions position diagnoses and treatment all-in-one, it is achieved to tumor
Being accurately positioned, mechanical arm produces displacement and melts, it is not necessary to the hand-held ablation needle of doctor, effectively prevents ray to clinician body
Injury.
Concrete, for achieving the above object, the present invention provides following technical scheme:
A kind of lesions position diagnoses and treatment all-in-one, including central control system, imaging system, mechanical arm lancing system with
And ablation system, described imaging system electrically connects with central control system respectively with ablation system,
Mechanical arm lancing system is connected with ablation system, and mechanical arm lancing system is mounted on U-shaped arm with ablation system
On, described mechanical arm lancing system punctures under the effect of ablation system.
Further, described central control system includes imaging control unit and melts control unit, and described imaging controls
Unit controls imaging system and forms diseased region image, and the size of diseased region image is through melting control unit according to default journey
Sequence changes into displacement.
Further, mechanical arm lancing system navigates to pathological changes according to described displacement under the control melting control unit
Position, melts diseased region image, and described ablation system starts work under the control melting control unit, thus defeated
Going out microwave current, reach mechanical arm lancing system, described mechanical arm lancing system gives off microwave energy.
Further, described mechanical arm lancing system includes five shaft mechanical arms, is arranged at the puncture of five shaft mechanical arm ends
Axle and be arranged at puncture shaft end puncture needle.
Further, described puncture axle is arranged over pre-puncture axle, and the pre-shaft end that punctures is provided with pre-puncture needle, described pre-
Puncture axle and in a tubular form and be sheathed on puncture needle periphery.
Further, described five shaft mechanical arms include X-axis, Y-axis, Z axis, R1 axle and R2 axle, and X-axis can be moved in the horizontal direction
Dynamic, Y-axis can move along with X-axis same horizontal plane and the direction vertical with X-axis, and Z axis can vertically move, R1 axle and R2 axle
Rotatable.
Further, described U-shaped arm includes the first side wall, the second sidewall and base arm, and ablation system is arranged at outside base arm
Side, mechanical arm lancing system is installed in base arm.
Further, described central control system is provided with monitoring screen.
Further, described imaging system is portable C-arm X-ray production apparatus.
Compared with prior art, the beneficial effects are mainly as follows the following aspects:
1, can realize simultaneously general tumour and the diagnostic imaging of other focus thereof and by mechanical arm lancing system real-time
Accurately tumor targets is threaded a needle ablation；
2, 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 bending inactivation；
3, mechanical arm lancing system is under the control of central control system, it is achieved be accurately positioned tumor, five shaft mechanicals
Arm makes mechanical arm realize three-dimensional rotation, makes ablation system more be precisely controlled puncture angle, further ensures that operation safety, and
And effectively prevent the ray injury to clinician body；
4, microwave thermal field distribution is uniform, and energy is concentrated, and the thermal efficiency is high, and treatment time is short；
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make
Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing for the present invention be only the one of the present invention
A little embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to these
Accompanying drawing obtains other accompanying drawing.
Fig. 1 is the side schematic view of lesions position diagnoses and treatment all-in-one disclosed in the embodiment of the present invention.
Fig. 2 is the top view of lesions position diagnoses and treatment all-in-one disclosed in the embodiment of the present invention.
Fig. 3 is the structural representation of U-shaped arm disclosed in the embodiment of the present invention.
Detailed description of the invention
Refer to Fig. 1 to Fig. 3, a kind of lesions position diagnoses and treatment all-in-one, including central control system 4, imaging system
1, mechanical arm lancing system 2 and ablation system 3, described imaging system 1 and ablation system 3 are electric with central control system 4 respectively
Connect,
Mechanical arm lancing system 2 is connected with ablation system 3, and mechanical arm lancing system 2 is mounted on U with ablation system 3
In arm 5, described mechanical arm lancing system 2 punctures under the effect of ablation system 3.
Further, described central control system 4 includes imaging control unit and melts control unit, and described imaging controls
Unit controls imaging system and forms diseased region image, and the size of diseased region image is through melting control unit according to default journey
Sequence changes into displacement.
Further, mechanical arm lancing system 2 navigates to disease according to described displacement under the control melting control unit
Becoming position, melt diseased region image, described ablation system 3 starts work under the control melting control unit, from
And export microwave current, and reaching mechanical arm lancing system 2, described mechanical arm lancing system 2 gives off microwave energy.
Further, described mechanical arm lancing system 2 includes five shaft mechanical arms, is arranged at the puncture of five shaft mechanical arm ends
Axle 22 and be arranged at puncture axle 22 tip penetration pin 23.
Further, described puncture axle 22 is arranged over pre-puncture axle 24, and pre-axle 24 end that punctures is provided with pre-puncture needle,
Described pre-puncture axle in a tubular form and is sheathed on puncture needle 23 periphery.
Further, described five shaft mechanical arms include X-axis 2101, Y-axis 2102, Z axis 2103, R1 axle 2104 and R2 axle
2105, X-axis 2101 can move in the horizontal direction, and Y-axis can move along with X-axis same horizontal plane and the direction vertical with X-axis, Z axis
Can vertically move, R1 axle is rotatable with R2 axle.
Further, refer to Fig. 3, described U-shaped arm 5 includes the first side, the 51, second sidewall 52 and base arm 53, melts and is
System 3 is arranged at the outside of base arm 53, and mechanical arm lancing system 2 is installed in base arm 53.It is provided with rail bed 6 below U-shaped arm 5, leads
All-in-one moving guide rail 7 it is provided with below rail bed 6.
Further, described central control system is provided with monitoring screen.
Further, described imaging system is portable C-arm X-ray production apparatus.
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, Er Qie
In the case of the spirit or essential attributes of the present invention, it is possible to realize the present invention in other specific forms.Therefore, no matter
From the point of view of which point, all should regard embodiment as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all by fall in the implication of equivalency and scope of claim
Change is included in the present invention.Should not be considered as limiting involved claim by any reference in claim.
Although moreover, it will be appreciated that this specification is been described by according to embodiment, but the most each embodiment only wraps
Containing an independent technical scheme, this narrating mode of description is only that for clarity sake those skilled in the art should
Description can also be formed those skilled in the art through appropriately combined as an entirety, the technical scheme in each embodiment
May be appreciated other embodiments.
Claims (8)
1. a lesions position diagnoses and treatment all-in-one, it is characterised in that include central control system, imaging system, mechanical arm
Lancing system and ablation system, described imaging system electrically connects with central control system respectively with ablation system,
Mechanical arm lancing system is connected with ablation system, and mechanical arm lancing system is mounted on U-shaped arm with ablation system, institute
State mechanical arm lancing system to puncture under the effect of ablation system.
2. lesions position diagnoses and treatment all-in-one as claimed in claim 1, it is characterised in that described central control system includes
Imaging control unit and melt control unit, described imaging control unit controls imaging system and forms diseased region image, pathological changes
The size of station diagram picture changes into displacement through melting control unit according to default program.
3. lesions position diagnoses and treatment all-in-one as claimed in claim 2, it is characterised in that mechanical arm lancing system is melting
Navigate to diseased region according to described displacement under the control of control unit, diseased region image melted, described in melt
System starts work under the control melting control unit, thus exports microwave current, reaches mechanical arm lancing system, described machine
Mechanical arm lancing system gives off microwave energy.
4. lesions position diagnoses and treatment all-in-one as claimed in claim 1, it is characterised in that described mechanical arm lancing system bag
Include five shaft mechanical arms, be arranged at the puncture axle of five shaft mechanical arm ends and be arranged at puncture shaft end puncture needle.
5. lesions position diagnoses and treatment all-in-one as claimed in claim 4, it is characterised in that described puncture axle is arranged over pre-
Puncturing axle, the pre-shaft end that punctures is provided with pre-puncture needle, and described pre-puncture axle in a tubular form and is sheathed on puncture needle periphery.
6. lesions position diagnoses and treatment all-in-one as claimed in claim 1, it is characterised in that described five shaft mechanical arms include X
Axle, Y-axis, Z axis, R1 axle and R2 axle, X-axis can move in the horizontal direction, Y-axis can along with X-axis same horizontal plane and vertical with X-axis
Direction move, Z axis can vertically move, and R1 axle is rotatable with R2 axle.
7. lesions position diagnoses and treatment all-in-one as claimed in claim 1, it is characterised in that described U-shaped arm includes the first side
Wall, the second sidewall and base arm, ablation system is arranged at the outside of base arm, and mechanical arm lancing system is installed in base arm.
Lesions position diagnoses and treatment all-in-one the most according to claim 1, it is characterised in that in described central control system
It is provided with monitoring screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610665524.1A CN106214253A (en) | 2016-08-15 | 2016-08-15 | Lesions position diagnoses and treatment all-in-one |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610665524.1A CN106214253A (en) | 2016-08-15 | 2016-08-15 | Lesions position diagnoses and treatment all-in-one |
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| Publication Number | Publication Date |
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| CN106214253A true CN106214253A (en) | 2016-12-14 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610665524.1A Pending CN106214253A (en) | 2016-08-15 | 2016-08-15 | Lesions position diagnoses and treatment all-in-one |
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Cited By (7)
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|---|---|---|---|---|
| CN107865666A (en) * | 2017-11-28 | 2018-04-03 | 张士波 | One kind is used for CT guiding foreign matter removal devices and its operating method |
| CN108969093A (en) * | 2018-08-06 | 2018-12-11 | 广州复大医疗有限公司 | For the probe fixture in tumour ablation art |
| CN109701169A (en) * | 2018-12-27 | 2019-05-03 | 成植温 | A kind of system of tumor treatment that mechanical arm punctures |
| CN110711033A (en) * | 2019-10-21 | 2020-01-21 | 浙江大学 | Six-degree-of-freedom puncture surgical robot |
| CN110960318A (en) * | 2018-09-30 | 2020-04-07 | 赛诺微医疗科技（浙江）有限公司 | CT guided ablation system and ablation positioning method |
| CN113290562A (en) * | 2021-05-28 | 2021-08-24 | 上海禾苗创先智能科技有限公司 | Control method and device of laser physical therapy robot, computer equipment and storage medium |
| CN117503344A (en) * | 2023-12-12 | 2024-02-06 | 中国人民解放军总医院第一医学中心 | Method and device for confirming power of multiple puncture needles, electronic equipment and storage medium |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107865666A (en) * | 2017-11-28 | 2018-04-03 | 张士波 | One kind is used for CT guiding foreign matter removal devices and its operating method |
| CN108969093A (en) * | 2018-08-06 | 2018-12-11 | 广州复大医疗有限公司 | For the probe fixture in tumour ablation art |
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| CN110960318A (en) * | 2018-09-30 | 2020-04-07 | 赛诺微医疗科技（浙江）有限公司 | CT guided ablation system and ablation positioning method |
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| CN110711033A (en) * | 2019-10-21 | 2020-01-21 | 浙江大学 | Six-degree-of-freedom puncture surgical robot |
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| CN113290562A (en) * | 2021-05-28 | 2021-08-24 | 上海禾苗创先智能科技有限公司 | Control method and device of laser physical therapy robot, computer equipment and storage medium |
| CN117503344A (en) * | 2023-12-12 | 2024-02-06 | 中国人民解放军总医院第一医学中心 | Method and device for confirming power of multiple puncture needles, electronic equipment and storage medium |
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Application publication date: 20161214 |
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| RJ01 | Rejection of invention patent application after publication |