CN110960318A

CN110960318A - CT guided ablation system and ablation positioning method

Info

Publication number: CN110960318A
Application number: CN201811155676.2A
Authority: CN
Inventors: 戴春喜; 黄文星; 李光荣
Original assignee: Surgnova Healthcare Technologies (zhejiang) Co ltd
Current assignee: Surgnova Healthcare Technologies (zhejiang) Co ltd
Priority date: 2018-09-30
Filing date: 2018-09-30
Publication date: 2020-04-07
Anticipated expiration: 2038-09-30
Also published as: CN110960318B

Abstract

A CT guided ablation system and an ablation positioning method, the CT guided ablation system comprises: a control unit for controlling the actions of the respective components; the manipulator body is used for controlling the ablation needle to reach a designated position of the operation; the CT scanning bed is used for carrying out CT scanning on the operation part; wherein, the manipulator body is coupled with the CT scanning bed, and can carry out CT scanning under the condition of not withdrawing the needle. The system can realize automatic puncture and automatic ablation, can dynamically adjust the ablation range in the ablation process, and realizes real-time control conformal ablation according to real-time image information; the patients do not need to enter and exit the CT scanning area for many times during the operation, and the operation time is greatly shortened.

Description

CT guided ablation system and ablation positioning method

Technical Field

The invention belongs to the technical field of medical equipment, particularly relates to an ablation system, and more particularly relates to a CT-guided ablation system and an ablation positioning method.

Background

The tumor ablation therapy of percutaneous puncture is widely applied in clinic. At present, when ablation treatment is carried out, no complete systematic treatment standard exists, a doctor can only design an operation scheme through observing an image film and relevant cases of a patient and experience and imagination, carry out operation simulation, and finally carry out the operation according to the operation scheme conceived by the doctor. In this case, the quality of the surgical effect is determined by the individual abilities and experiences of the doctor, and the related surgical plan is difficult to communicate with the patient and other doctors. Doctors are difficult to accurately obtain the spatial position and shape information of the tumor, and the relative position relationship between the ablation needle and the tumor is difficult to determine, so that the treatment effect of the operation is greatly influenced.

Image-guided tumor ablation therapy is a minimally invasive therapy technology developed on the basis of modern imaging science, and the key to the implementation of the image-guided tumor ablation therapy is accurate image guidance and controllable conformal ablation. Commercially available ablation products include: radio frequency, microwave, laser, freezing, etc., and the ablation product is mainly used for placing an ablation needle into a focus position through a percutaneous puncture treatment mode. Percutaneous puncture is an undisclosed medical imaging technology, and image guidance methods include X-ray fluoroscopy, ultrasound, CT, MRI and the like. In the lung and other qi-containing tissues, the ultrasonic image is difficult to clearly show the focus and cannot play a role. Because the CT scanning density resolution is high and the image is clear, the tumor and various normal tissues such as lung, liver, pancreas, alimentary canal, bone soft tissue, blood vessel, bile duct and the like can be clearly displayed, and the operation puncture is facilitated. Meanwhile, CT scanning is convenient for storing patient data so as to be beneficial to judgment of curative effect. CT guidance is one of the best image guidance means for ablation therapy.

At present, in clinical CT (computed tomography) guided puncture, needle insertion is performed step by step, namely, the needle insertion and scanning are performed simultaneously, a puncture needle needs to reach a target point step by step, an operator needs to repeatedly enter and exit a CT operation room and manually operate a CT host, and the probability of surgical pollution is increased. If an operator wants to manually adjust the angle of the puncture needle, the operator can only withdraw the patient from the CT scanning area to the outside of the CT host, and after the angle of the puncture needle is manually adjusted, whether the adjustment of the angle position of the needle is correct or not can be judged by sending the patient into the CT host again for scanning. The frequent entering and exiting of the CT host scanning area increases the time of the puncture operation, increases the radiation dose received by the patient, cannot see and control the positions of the puncture needle point and the focus in real time, an operator needs to adjust the puncture point and the puncture angle of the puncture needle for many times, increases the complexity of the ablation operation, and is difficult to achieve high-precision puncture and ablation treatment.

An automatic device which can automatically find a puncture needle point is urgently needed in clinic; the device can check the position reached by the puncture needle tip in real time during puncture, and can quickly show the position relation between the puncture needle and a focus; the puncture angle can be automatically adjusted or remotely controlled by an operator, and the puncture needle can be automatically controlled to advance or retreat. After the ablation treatment is started, the device can also dynamically adjust the position of the ablation needle, so as to realize dynamic shape-fitting of the ablation focus.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art and clinical needs, it is a primary object of the present invention to provide a CT-guided ablation system and an ablation positioning method, which at least partially solve at least one of the above-mentioned problems.

To achieve the above object, as one aspect of the present invention, there is provided a CT-guided ablation system including:

a control unit for controlling the actions of the respective components;

the manipulator body is used for controlling the ablation needle to reach a designated position of the operation;

the CT scanning bed is used for carrying out CT scanning on the operation part;

the mechanical arm body is coupled with the CT scanning bed, and CT scanning can be carried out under the condition that a needle is not withdrawn.

As another aspect of the present invention, an ablation positioning method of the CT guided ablation system as described above is provided, which is characterized by comprising the following steps:

according to the preset position information, the control unit adjusts the posture of the CT scanning bed and adjusts the initial position of the manipulator body;

an ablation needle is arranged at the front end of the manipulator body;

the control unit controls the CT scanning bed to move to obtain a CT image, and according to the scanned image, the control unit analyzes and processes the image without moving the ablation needle to obtain the shape of a focus, the initial position of the ablation needle and the initial angle of the ablation needle;

the control unit automatically adjusts the angle of the ablation needle at the front end of the manipulator body and the needle inserting point of the ablation needle according to the image analysis information.

Based on the above technical solution, the system of the present invention has at least one of the following advantages over the prior art:

(1) the system can realize automatic puncture and automatic ablation, can dynamically adjust the ablation range in the ablation process, and realizes real-time control conformal ablation according to real-time image information; the whole ablation operation can be completed automatically, so that the participation of operators is reduced, the complexity of the ablation operation is reduced, the operation risk caused by factors such as operator fatigue is reduced, the puncture precision of an ablation needle is increased, and the standardization and the technical popularization of the tumor ablation operation are facilitated;

(2) during operation, a patient does not need to enter and exit a CT scanning area for many times, the radiation quantity of the patient is greatly reduced, and the operation time is greatly shortened;

(3) the system can automatically count the displacement information of the focus along with the respiration and the blood vessel pulsation, master the focus position change rule of different patients, such as patients with different focus organs, different ages, different weights and different disease stages during the operation, automatically record the image information and carry out deep learning, and also record the image case for the doctor to learn; the system can automatically analyze, classify, learn and interpret cases by utilizing a large amount of ablation treatment data, continuously refine the operation modes of various ablation operations of different categories to form a standard treatment scheme, and provide an artificial intelligence system for assisting diagnosis for doctors.

Drawings

FIG. 1 is a schematic overall configuration diagram of an application scenario of the CT guided ablation system of the present invention;

FIG. 2 is a schematic view of the robot body mounted to the CT scanning table and having an ablation needle disposed in combination with the patient in a prone position;

FIG. 3 is a schematic view of a preferred embodiment of the ablation needle mounted to a needle transporter mounted to a needle rotator secured to a robot body of a coarse positioning robot arm;

FIG. 4 is a schematic view of the needle rotator in the robot body of FIG. 3 with the outer shell removed;

FIG. 5 is a schematic illustration of the ablation needle in the needle transporter in a released state;

FIG. 6 is a schematic view showing the overall structure of the needle transporter connected to the needle rotator;

FIG. 7A is a schematic front end view of the needle rotator;

FIG. 7B is a rear end view of the needle rotator;

FIG. 8A is an exploded view of the needle rotator;

FIG. 8B is a schematic view of the needle rotator rotating the ablation needle at different angles;

FIG. 9 is a schematic view of the gear box assembly in the needle rotator;

FIG. 10 is a schematic diagram of a preferred electric coarse positioning robot;

FIG. 11 is a schematic diagram of a preferred manual coarse positioning robot;

fig. 12 is a system diagram of a CT guided ablation system and a flow chart of an ablation method of the present invention.

Detailed Description

In order that the objects, technical solutions and advantages of the present invention will become more apparent, the present invention will be further described in detail with reference to the accompanying drawings in conjunction with the following specific embodiments.

The invention discloses a CT guided ablation system, which comprises:

a control unit for controlling the actions of the respective components;

the CT scanning bed is used for carrying out CT scanning on the operation part;

the manipulator body is coupled with the CT scanning bed, and CT scanning can be carried out under the condition that the needle is not withdrawn.

Wherein, the manipulator body includes needle conveyer, needle circulator and coarse adjusting location arm, wherein:

the coarse adjustment positioning mechanical arm is coupled with the CT scanning bed and is used for performing coarse adjustment positioning on a needle conveyer and/or a needle rotator supported by the coarse adjustment positioning mechanical arm;

the needle rotator is used for adjusting the needle inserting angle of the ablation needle; and

the needle transporter is used for controlling the advancement and/or retreat of the ablation needle;

preferably, the coarse positioning mechanical arm is coupled with the CT scanning bed, so that the mechanical arm body and the CT scanning bed keep relatively static and move together with the CT scanning bed.

Wherein, the needle conveyer comprises a clamping actuator, a conveying actuator, a transmission rack, a clamping wheel and a transmission wheel; wherein:

the clamping actuator drives the transmission rack to move, so that the clamping wheel is pushed to be matched with the transmission wheel to clamp the ablation needle;

the conveying actuator drives the driving wheel to rotate, so that the clamped ablation needle is driven to move forwards or backwards;

preferably, the clamping actuator and the conveying actuator both comprise motors as power sources;

preferably, the clamping actuator and/or the conveying actuator determine the extreme positions of movement by means of limit switches;

preferably, the clamping wheel and the driving wheel are provided with rubber sleeves for increasing the friction force with the ablation needle, and the rubber sleeves are made of elastic silicon rubber materials.

The needle rotator comprises a connecting rod, a spherical pair which is connected with the connecting rod and can realize three-degree-of-freedom rotation, and a plurality of layers of mutually overlapped sliding table mechanisms which are connected with the connecting rod, wherein the needle rotator can realize the spatial rotation of the ablation needle by combining the spherical pair and the rotating pair which are realized by connecting the connecting rod with the needle conveyer through the relative motion among the sliding tables;

preferably, the multi-layer sliding table mechanism comprises an upper sliding table, a lower sliding table, a top sliding table and a base sliding table, wherein the upper sliding table is mounted on the top sliding table, the lower sliding table is mounted on the base sliding table, the top sliding table is mounted on the base sliding table, and the base sliding table is mounted on the base of the needle rotator; when the base sliding table slides forwards and backwards, and other sliding tables are static relative to the base sliding table, the needle inserting point of the ablation needle moves forwards and backwards; when the top sliding table slides forwards and backwards, the base sliding table is static, and the ablation needle swings forwards and backwards; when the upper sliding table and the lower sliding table slide left and right at the same time and keep relatively static, the needle inserting point of the ablation needle moves left and right; when the lower sliding table is static and the upper sliding table slides left and right, the ablation needle swings left and right;

preferably, the upper sliding table, the lower sliding table, the top sliding table and the base sliding table are respectively connected with a gear reduction box for enabling the movement to be smoother.

The needle conveyor is made of engineering plastics which can transmit rays, and is preferably made of ABS, Polycarbonate (PC) or Polyformaldehyde (POM). Since the needle rotator is spaced from the ablation needle, the needle rotator may or may not be made of the above-mentioned materials, but still made of conventionally known materials.

Wherein, the control unit comprises a CT image monitor, a needle conveying controller, a needle rotation controller, a puncture point adjusting controller and a computer host.

Wherein, the control unit can realize the full-automatic operation or the remote control operation of the whole ablation system.

Wherein the ablation needle is a puncture type ablation needle, such as a microwave or high-frequency current ablation needle.

The invention also discloses an ablation positioning method of the CT guided ablation system, which comprises the following steps:

an ablation needle is arranged at the front end of the manipulator body;

In the step of automatically adjusting the angle of the ablation needle at the front end of the manipulator body and the needle inserting point of the ablation needle by the control unit according to the image analysis information, the CT scanning bed synchronously performs CT scanning, and the control unit adjusts the needle inserting preparation angle of the ablation needle on the outer side of the human body in real time based on the scanned image.

The above steps are only to adjust the ready-to-insert angle of the ablation needle outside the human body, so as to facilitate the accurate needle insertion. Furthermore, the invention also discloses a needle insertion control method, which can obtain and correct the needle insertion angle and depth of the ablation needle by real-time synchronous CT scanning in the needle insertion process, thereby guiding and correcting the needle insertion in the whole needle insertion process. Furthermore, the invention also discloses a needle insertion control method, which can reversely calculate the optimal route and direction when preparing needle insertion outside the human body based on the CT image data shot in real time based on the deep learning method of the neural network, thereby determining the position and the angle of the prepared needle insertion. The neural network can be a known neural network, and a training library is established by using a large amount of actual needle insertion CT image data and recovery data so as to iteratively solve the optimal needle insertion route and the optimal ablation power. Compared with the limitation that the CT image can be shot only by stopping the needle insertion in the prior art, the method can provide a large number of real-time needle insertion CT images, thereby greatly improving the blindness of operators and being more beneficial to further perfecting and improving related operations.

The technical solution of the present invention is further explained with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a schematic overall structure diagram of a preferred application scenario of the ablation robot system of the present invention. The mechanical arm body of the ablation robot is 1, the controller is 2, the CT host computer is 3, and the CT scanning bed is 4. When a patient is in a lying posture on a scanning bed and the lesion of the liver, the lung and other parts is treated, the patient prefers the lying posture, and the manipulator body 1 holds the ablation needle to be placed at the upper part of the lesion part.

As shown in fig. 2, a preferred coarse positioning robot 13 in the robot body is provided with a robot mount 14, which is fixedly attached to the scan bed 4. Through the fixed connection, the manipulator body 1 moves along with the movement of the scanning bed 4. The front end of the coarse adjustment positioning mechanical arm 13 is connected with a needle rotator 12, the front end of the needle rotator 12 is connected with a needle conveyer 11, and an ablation needle 111 is clamped on the needle conveyer 11.

As shown in fig. 3, 13A is another preferred coarse positioning robot, and a needle rotator 12 and a needle carrier 11 are mounted to the front end thereof to form a robot body.

As shown in fig. 4, 121 is a housing of the needle rotator 12 in the robot body, and 122 is a schematic view of an internal structure of the needle rotator. The needle conveyor is provided with: the ablation needle 111, the ablation needle clamping motor 112A, the ablation needle delivery motor 112B, the front limit switch 1131, the rear limit switch 1132, the guide needle seat 114, the clamping gear 115A, the clamping rack 115B, the rack fixing plate 115D, the needle clamping pad 116, the clamping wheel 116A, and the needle rotating wheel 116B. The needle clamping pad is made of elastic silicon rubber. The needle conveyer component is made of engineering plastics capable of transmitting rays, such as ABS, PC, POM and the like.

Wherein 115C is a rack upper plate, and is provided with a front photoelectric barrier 115C1 and a rear photoelectric barrier 115C 2. 116C is a clamping rubber sleeve, and 116D is a rotating needle rubber sleeve. The rotary needle rubber sleeve and the clamping rubber sleeve are made of elastic silicon rubber materials.

The needle transporter 11 is used to effect insertion or withdrawal of an ablation needle. When the clamping motor 112A rotates in the forward direction, the clamping gear 115A coupled to the end of the motor shaft rotates with the motor, which drives the clamping rack 115B engaged therewith to move in the forward direction until the front photoelectric blocking piece 115C1 on the rack upper plate 115C triggers the front limit switch 1131, the clamping motor 112A stops rotating, and the clamping wheel 116A clamps the ablation needle 111. After the ablation needle is clamped, the ablation needle delivery motor 112B can start to rotate, the ablation needle can puncture forward along with the forward rotation of the motor 112B, and can withdraw backward along with the reverse rotation of the motor 112B.

As shown in fig. 5, the reference numeral 115D is a rack fixing plate, which is provided with a rack guide groove 115D1, and the clamping rack 115B is provided with a rack sliding column 115B1, and when the clamping motor 112A rotates in the forward direction, the sliding column 115B1 slides forward in the guide groove 115D 1. This figure shows the unclamped state of the clamping rack 115B, in which the clamping rubber sleeve 116C on the outside of the clamping wheel 116A is away from the ablation needle 111.

When the clamping motor 112A rotates forward to reach the limit position, the front limit switch 1131 is triggered, the rotation of the front limit switch 112A stops, the ablation needle 111 is in a clamped state, and at this time, the clamping rubber sleeve 116C and the rotating needle rubber sleeve 116D together prop against the ablation needle 111 tightly. When the clamp motor 112A rotates in the reverse direction, the slide column 115B1 slides backward in the guide groove 115D 1. When the clamping rack 115B moves reversely to reach the limit position, the rear limit switch 1132 is triggered, the motor 112A stops rotating, and the 116C is far away from the ablation needle 111, so that the state of the clamping needle is restored to the state of releasing the needle shown in fig. 5.

As shown in fig. 6, the needle transporter 11 is connected to the needle rotator 12. The needle rotator is provided at its front end with an upper connecting rod 1221 and a lower connecting rod 1222. The head end of the connecting rod is arranged in a clamping groove of the needle guide seat 114 of the needle conveyer to realize connection.

The upper connecting rod 1221 is provided with a spherical front end 1221A, and the guide pin seat 114 is provided with a rectangular slot 1141. The front end 1221A can penetrate into the slot 1141, forming a spherical pair fit capable of three-degree-of-freedom rotation. The lower connecting rod 1222 front end is equipped with cylinder boss 1222A, and the guide pin seat 114 bottom is equipped with cylinder shrinkage pool 1142, and cylinder boss 1222A can penetrate cylinder shrinkage pool 1142, forms the revolute pair cooperation that can a degree of freedom pivoted.

The connecting

rods

1221, 1222 of the needle rotator 12 are mounted on the

rod adapters

1223, 1224. The link adapter is provided with a driver 1225 at the side thereof, which has a driver pin 1225A having a chamfered surface 1225A1 at the front end thereof. The upper connecting rod 1221 is provided with a groove 1221B, and the lower connecting rod 1222 is provided with a groove 1222B, and when the connecting rod penetrates the slot holes 1223A, 1224A of the

link adapters

1223, 1224, the knock pin front end chamfered face 1225a1 of the knock-out 1225 will abut against the groove 1221B, 1222B. The jacking device 1225 is provided with a compression spring 1225B, and the compression spring 1225B in a compressed state enables the jacking pin to always jack the connecting rod grooves 1221B and 1222B forwards, so that the connecting

rods

1221 and 1222 are prevented from falling out in operation. When the connecting rod needs to be pulled out, an operator needs to pull the tightening pin 1225A backwards to overcome the pressure of the compression spring, the tightening pin moves backwards, and the connecting rod can be pulled out of the connecting

rod adapters

1223 and 1224.

Fig. 7A and 7B are schematic views showing the overall structure of a preferred needle rotator. The needle rotator is provided with four gearbox components, an upper gearbox component 1230, a lower gearbox component 1232, a base gearbox component 1234, a middle gearbox component 1233, respectively. The four gear box assemblies are respectively provided with a reducer motor, a screw rod and a nut. As shown in the figure, the four gear box assemblies are respectively provided with a sliding table connected with the four gear box assemblies. 1229 is last slip table, and 1231 is lower slip table, and 1227 is the base slip table, and 1228 is the top layer slip table. 1226 is a needle rotator base with a locking interface 1226A connected to the coarse positioning robot 13.

Fig. 8A is an exploded view of the needle rotator. As shown, the upper sliding platform 1229 is provided with an upper sliding platform guide rail 1235 and an upper sliding platform slider 1242. The lower sliding table 1231 is provided with a lower sliding table guide rail 1240 and a lower sliding table sliding block 1241. The base sliding table 1227 is provided with a base guide rail 1236 and a base slider 1237. The top sliding table 1228 is provided with a top guide rail 1238 and a top sliding block 1239. The slider and the guide rail form a sliding pair, the slider is fixedly arranged on the sliding table, and the sliding table can slide back and forth along the guide rail along with the slider. The upper gearbox assembly 1230 is provided with an upper screw 1230A, an upper nut 1230B, an upper reducer motor 1230C, and an upper gearbox front limit switch 1230D. The lower gearbox assembly 1232 is provided with a lower lead screw 1232A, a lower nut 1232B, a lower reducer motor 1230C, and a lower gearbox front limit switch 1232D. Base gearbox assembly 1234 is provided with a base screw 1234A, a base nut 1234B, a base reducer motor 1234C, and a base gearbox front limit switch 1234D. The middle gearbox assembly 1233 is provided with a middle screw 1233A, a middle nut 1233B, a middle reducer motor 1233C, and a middle gearbox front limit switch 1233D.

The needle rotator is provided with a plurality of layers of sliding table mechanisms which are mutually overlapped, relative movement among the sliding tables is combined with a spherical pair and a revolute pair which are realized by connecting the connecting

rods

1221 and 1222 with the guide needle seat 114, and the spatial rotation of the ablation needle can be realized by the needle rotator. As illustrated in fig. 7A and 7B, the upper sliding table 1229 is mounted on the top sliding table 1228, and the lower sliding table 1231 is mounted on the base sliding table 1227. The top slip 1228 is mounted to the base slip 1227. The base slide 1227 is mounted to the needle rotator base 1226. When the base sliding table 1227 slides back and forth and the other sliding tables are stationary relative to the base sliding table, the needle insertion point of the ablation needle moves back and forth. When the top sliding table 1228 slides back and forth, the base sliding table is stationary and the ablation needle will swing back and forth. When the upper sliding table 1229 and the lower sliding table 1231 simultaneously slide left and right and are kept relatively static, the needle inserting point of the ablation needle moves left and right. When the lower sliding table 1231 is stationary and the upper sliding table 1229 slides left and right, the ablation needle will swing left and right. The coordinated rotation of the four gear box reducer motors is controlled to realize the movement of the needle inserting point of the ablation needle and the swing of the ablation needle. As shown in fig. 8B, there is a schematic view of the ablation needle 111 implemented for a needle rotator being rotated to a different angle. In the figure, D1 is a schematic diagram of the ablation needle swinging back and forth when the top sliding table 1228 and the base sliding table 1227 slide relative to each other and the ablation needle is placed in a vertical state; d2 is the front and back swing of the ablation needle, which is set at the maximum rotation angle of the front end, and D3 is the maximum rotation angle of the back end. C1 is a schematic diagram showing the upper sliding platform 1229 and the lower sliding platform 1231 sliding relative to each other, and the ablation needle swinging left and right, which is placed in a vertical state; c2 is the left-right swing of the ablation needle, which is set at the maximum rotation angle on the left end, and C3 is the maximum rotation angle on the right end.

Fig. 9 is a schematic diagram of a gearbox assembly, and the gearbox 1230 is described above as an example, since four gearbox assemblies are similar in structure. 1230K is a gear box front plate, 1230L is a gear box rear plate, and a motor gear 1230E, an intermediate gear 1230G and a screw rod gear 1230F are arranged between the two gear box plates. The rear part of the gear box rear plate 1230L is provided with a rear limit switch 1230J. 1230H is a rear limit switch striker, 1230X is a front limit switch striker. When the upper screw rod 1230A rotates forwards, the upper nut 1230B moves forwards along the screw rod, and when the front limit position is reached, the front limit switch striker 1230X triggers the front limit switch 1230D, and the screw rod stops rotating; when the upper lead screw 1230A rotates reversely, the upper nut 1230B moves backwards along the lead screw, and when the upper nut moves backwards to the limit position, the rear limit switch striker 1230H is touched, and then the rear limit switch striker 1230H triggers the rear limit switch 1230J, and the lead screw stops rotating.

Figure 10 is a schematic diagram of an exemplary motorized coarse positioning robot. The coarse positioning robot 13 is used to position the needle rotator 12 over the lesion site of the patient, which can move the needle rotator over a wide range in preparation for fine adjustment of the needle insertion point and adjustment of the needle insertion angle of the needle rotator. As shown, 131 is a mounting base of the robot arm by which the robot arm can be secured to the CT scanning table 4. Reference numeral 133 denotes a mechanical arm connector for fixing the needle rotator 12. 132 is a reducer motor, the mechanical arm is arranged at different angles when the mechanical arm rotates, the reducer motor is arranged on each joint of the mechanical arm, and the mechanical arm can be flexibly configured to reach different positions through control.

Fig. 11 is a schematic structural diagram of a manual coarse positioning robot 13A according to another embodiment. In this embodiment each joint of the robot arm has no reducer motor. 13A2 is a spherical pair joint, 13A4 is a revolute pair joint, 13A1 is a robot arm mounting base, and 13A3 is a robot arm connector. The coarse adjustment positioning mechanical arm of the embodiment has a simple structure, and the needle rotator can be flexibly arranged above the focus of a patient by manually arranging the angle of each joint by an operator.

Fig. 12 is an overall block diagram of the ablation robot system and a flowchart of the ablation method. As shown in the figure, the approximate position of the focus of the patient is confirmed by the patient case image data, the control system controller 2 sends an instruction according to the preliminarily judged position information of the focus, the height of the scanning bed 4 is adjusted, and the initial position of the manipulator body 1 is adjusted, so that the manipulator body does not hinder the patient from entering the scanning bed. And secondly, the patient enters the scanning bed in a lying-up, side lying, prone and other modes, and the operation body position of the patient is adjusted. After the patient is in position, the positioning mechanical arm 13 is roughly adjusted to act. The coarse positioning mechanical arm 13 drives the needle rotator and the needle conveyer coupled to the front end thereof to move until the needle conveyer reaches a proper position above the lesion site of the patient, and the mechanical arm stops moving. And thirdly, the ablation needle 111 is clamped into the needle conveyer, and the clamping motor 112A rotates forwards to clamp the ablation needle. After the ablation needle is clamped, the CT scanning bed 4 moves forwards, the patient on the CT scanning bed is sent to the CT host 3 to be scanned, and a CT image 2 is obtained by the system along with the scanning. According to the scanned images, the system can obtain the detailed information of the focus of the patient, including the position change of the focus position along with the respiration, the blood vessel pulsation and the like of the patient, the type of the focus, the shape of the focus, the initial position of the ablation needle, the initial angle of the ablation needle and the like. The CT image information is processed by an image analysis module E1, an image classification module E2 and an image learning module E3 of the system and enters an ablation expert system E0. The expert system makes a judgment according to the image information and sends an instruction to the system controller 2, the system controller automatically or manually adjusts the angle of the ablation needle in the manipulator 1 and the needle inserting point of the ablation needle, the system considers the change rule of the position of the focus, the ablation needle is dynamically inserted into the system, and the needle inserting angle and the needle inserting depth of the ablation needle are adjusted in real time until the ablation needle is perfectly inserted into the focus. The process of ablation needle placement is performed simultaneously with the image scanning of the CT mainframe 3. After the ablation needle is placed, the system starts an ablation instruction according to the empirical parameters given by the expert system E0. During ablation, CT host scanning can be carried out simultaneously, and as the ablation process is carried out, the CT image can display the ablation state of the focus in real time. If the ablation area deviates from the expected ablation area, the manipulator body 1 dynamically changes the position of the ablation needle until the ablation area is in accordance with the expectation. The ablation needle can also perform dynamic ablation with real-time position change according to the operation plan.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A CT guided ablation system comprising:

a control unit for controlling the actions of the respective components;

the CT scanning bed is used for carrying out CT scanning on the operation part;

2. The CT-guided ablation system of claim 1, wherein the manipulator body comprises a needle transporter, a needle rotator, and a coarse positioning robot, wherein:

3. The CT-guided ablation system of claim 2, wherein the needle transporter comprises a clamping actuator, a transport actuator, a drive rack, a clamping wheel, and a drive wheel; wherein:

preferably, the clamping actuator and/or the conveying actuator triggers a limit switch through a transmission rack to determine the movement limit position;

4. The CT-guided ablation system according to claim 2, wherein the needle rotator comprises a connecting rod, a spherical pair connected to the connecting rod and capable of three-degree-of-freedom rotation, and a plurality of layers of mutually superimposed sliding table mechanisms connected to the connecting rod, and the needle rotator is capable of spatial rotation of the ablation needle by relative movement between the sliding tables in combination with the spherical pair and the rotational pair realized by the connecting rod being connected to the needle transporter;

5. The CT guided ablation system of claim 2, wherein the needle transporter is made of radiolucent engineering plastic, preferably ABS, Polycarbonate (PC) or Polyoxymethylene (POM).

6. The CT-guided ablation system of claim 2, wherein the control unit comprises a CT image monitor, a needle delivery controller, a needle rotation controller, a puncture point adjustment controller, and a computer host.

7. The CT guided ablation system according to claim 1, wherein the control unit enables fully automated or remote operation of the entire ablation system;

preferably, the control unit can automatically record CT scanning image information and perform deep learning, form an expert database, automatically analyze, classify, learn and interpret cases, continuously refine the operation modes of various ablation operations of different categories, form a standard treatment scheme and provide auxiliary diagnosis for doctors.

8. The CT-guided ablation system of claim 1, wherein the ablation needle is a puncture-type ablation needle;

preferably, the ablation needle is a microwave or high frequency current ablation needle.

9. A method of ablation positioning in a CT guided ablation system as in any of claims 1-8, comprising the steps of:

an ablation needle is arranged at the front end of the manipulator body;

10. The ablation positioning method according to claim 9, wherein in the step of automatically adjusting the angle of the ablation needle and the needle insertion point of the ablation needle at the front end of the manipulator body by the control unit according to the image analysis information, the CT scanning bed performs CT scanning synchronously, and the control unit adjusts the needle insertion preparation angle of the ablation needle outside the human body in real time based on the scanned image.