CN214761439U

CN214761439U - Microwave ablation robot

Info

Publication number: CN214761439U
Application number: CN202120092246.1U
Authority: CN
Inventors: 盛林; 于文杰
Original assignee: Beijing Viicare Medical Technology Co ltd
Current assignee: Beijing Viicare Medical Technology Co ltd
Priority date: 2021-01-14
Filing date: 2021-01-14
Publication date: 2021-11-19
Anticipated expiration: 2031-01-14

Abstract

The utility model provides a microwave ablation robot, which comprises a control system, a moving system and a microwave ablation system, wherein the microwave ablation system comprises a microwave needle and microwave energy adjusting hardware, and the moving system comprises a mechanical arm and a supporting base; the control system includes recording hardware and control hardware. The utility model discloses a to record hardware, control hardware, arm and microwave needle and combine together, the effectual stability of having solved the hand in the operation is not good enough, or because the hand that appears in the shortage trembles, or the doctor that may appear judges the error, has reduced the probability that the accident takes place greatly.

Description

Microwave ablation robot

Technical Field

The utility model belongs to the technical field of the medical treatment technique and specifically relates to a microwave ablation robot is related to.

Background

Robots are widely used in automated instruments and equipment, and have excellent performance in the fields of conventional industrial manufacturing, cargo handling, and the like, and emerging medical equipment and the like. With the development of science and technology, the robot for operating rooms is gradually improved in function, can realize automatic operation procedures through combination of various modules, is high in efficiency, reduces the error rate, and can be widely applied to various operations, such as microwave tumor resection.

When the microwave is a high-frequency electromagnetic wave, when the microwave acts on the tumor tissue, the tumor tissue absorbs a large amount of microwave energy, so that a large amount of heat is rapidly generated inside the acted tumor tissue, and the tumor is instantly thermally coagulated and necrotized due to high heat.

The traditional microwave tumor resection operation is one of effective methods for local treatment of solid tumors, a doctor punctures a microwave ablation needle into tumor tissues through skin under the condition of local anesthesia or intravenous anesthesia under the guidance of CT, and the tumor tissues are necrotized and inactivated by the principle of generating high heat by the microwave needle, so that the purpose of treatment is achieved.

The traditional microwave tumor resection operation needs to judge the position of the tumor in situ by a doctor according to CT and remove the tumor by the doctor with the hand, the dependence on the doctor is too high under the condition, the pressure brought to the doctor is also great, the stability of the hand is poor, and the problem is easy to occur.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a microwave ablation robot, which combines the recording hardware, the control hardware, the mechanical arm and the microwave needle, effectively solves the problems of poor stability of hands in the operation, hand trembling caused by tension or possible doctor judgment errors, and greatly reduces the probability of accidents;

the utility model provides a microwave ablation robot, which comprises a control system, a moving system and a microwave ablation system, wherein the microwave ablation system comprises a microwave needle and microwave energy adjusting hardware, and the moving system comprises a mechanical arm and a supporting base; the control system comprises recording hardware and control hardware; the microwave energy microwave oven is characterized in that the mechanical arm is arranged at the top of the supporting base, a chuck is fixedly arranged at the end of the mechanical arm, the microwave needle is slidably mounted on the chuck, a cavity is formed in the supporting base, a cavity door is arranged on one side of the supporting base, the recording hardware, the control hardware and the microwave energy adjusting hardware are arranged in the cavity, the control hardware is electrically connected with the recording hardware and the microwave energy adjusting hardware, and the microwave energy adjusting hardware is electrically connected with the microwave needle.

Further, the arm includes multistage arm and a plurality of connecting piece, be equipped with between the arm the connecting piece, the connecting piece includes rotary joint and upset joint.

Further, the quantity of arm is six, the arm includes one-level arm, second grade arm, tertiary arm, level four arm, five-level arm and six level arm, one-level arm with the second grade arm, tertiary arm and level four arm with five level arm with pass through between the six level arm the upset joint links to each other, the second grade arm with tertiary arm, level four arm with five level arm with six level arm in pass through between the chuck rotatory joint links to each other.

Further, the mechanical arm further comprises a connecting seat, and the connecting seat is fixedly connected with the supporting base.

Furthermore, the connecting seat is connected with the first-stage arm through the rotary joint.

Furthermore, the mechanical arm further comprises seven force sensors, and the force sensors are fixedly connected with the overturning joints and the rotating joints respectively.

Furthermore, the control system further comprises an emergency stop switch, the emergency stop switch is located on the supporting base, and the emergency stop switch is electrically connected with the control hardware.

Furthermore, the control system further comprises an impedance control enabling key, the impedance control enabling key is located on the chuck, and the impedance control enabling key is electrically connected with the control hardware.

Furthermore, the control system further comprises a signal input interface and a signal output interface, wherein the signal input interface is positioned on the outer wall of the supporting base and electrically connected with the control hardware, and the signal output interface is positioned on the outer wall of the supporting base and electrically connected with the recording hardware.

Furthermore, the control hardware is electrically connected with the mobile system, and the recording hardware is electrically connected with the mobile system.

The technical scheme of the utility model replace the staff because the stability of arm crosses the staff greatly through using the arm, so solved because tremble the accident situation who takes place, through using control hardware analysis CT result and pass to change into three-dimensional modeling output to external screen on replace the doctor to rely on the sensation to judge and make the operation process avoid unexpected emergence more directly perceivedly.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is an oblique side view of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a structural view of the robot arm of the present invention;

FIG. 4 is a structural view of the chuck of the present invention;

FIG. 5 is a side view of the external screen of the present invention

Description of reference numerals:

1-cavity door, 2-support base, 3-mechanical arm, 301-connecting seat, 302-first rotary joint, 303-first-stage arm, 304-first turnover joint, 305-second-stage arm, 306-second rotary joint, 307-third-stage arm, 308-second turnover joint, 309-fourth-stage arm, 310-third rotary joint, 311-fifth-stage arm, 312-third turnover joint, 313-sixth-stage arm, 314-fourth rotary joint, 4-chuck, 5-microwave needle, 6-signal input interface, 7-signal output interface, 8-emergency stop switch, 9-impedance control enable key and 10-screen;

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise. Furthermore, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1, 2, 3, 4 and 5:

the utility model provides a microwave ablation robot, which comprises a control system, a moving system and a microwave ablation system, wherein the microwave ablation system comprises a microwave needle 5 and microwave energy adjusting hardware, and the moving system comprises a mechanical arm 3 and a supporting base 2; the control system comprises recording hardware and control hardware; a cavity is formed in the supporting base 2, a cavity door 2 is arranged on one side of the supporting base 2, and recording hardware, control hardware and microwave energy adjusting hardware are arranged in the cavity.

The control hardware and the microwave energy adjusting hardware are both chip structures, the control hardware receives CT of a patient and converts the CT into three-dimensional modeling to be output to the recording hardware, meanwhile, the optimal needle descending position of a microwave needle 5 of the robot, the motion route of the mechanical arm 3 and the power of the microwave needle 5 required by tumor resection are calculated according to the three-dimensional modeling, the microwave energy adjusting hardware controls the heating power of the microwave needle 5, corresponding algorithms are written in parts, the result can be calculated only by inputting signals without manual calculation, the recording hardware is equivalent to a black box of the robot, and the actual motion route of the robot, the manual control moving route of a doctor, the needle descending position of the microwave needle 5 and the heating power of the microwave needle 5 in the operation process can be recorded.

Arm 3 includes connecting seat 301, multistage arm and a plurality of connecting piece, and the connecting piece divide into rotary joint and upset joint again, and connecting seat 301 and support base 2 fixed connection, and connecting seat 301 top is equipped with first rotary joint 302.

The first-stage arm 303 is connected with the connecting seat 301 through a first rotating joint 302, one end of the first-stage arm 304 is provided with a first overturning joint 304, and the second-stage arm 305 is connected with the first-stage arm 303 through the first overturning joint 304. One end of the second-stage arm 305 is provided with a second rotary joint 306, the second-stage arm 305 is connected with a third-stage arm 307 through the second rotary joint 306, one end of the third-stage arm 307 is provided with a second overturning joint 308, the third-stage arm 307 is connected with a fourth-stage arm 309 through the second overturning joint 308, one end of the fourth-stage arm 309 is provided with a third rotary joint 310, the fourth-stage arm 309 is connected with a fifth-stage arm 311 through the third rotary joint 310, one end of the fifth-stage arm 311 is provided with a third overturning joint 312, the fifth-stage arm 311 is connected with a sixth-stage arm 313 through the third overturning joint 312, one end of the sixth-stage arm 313 is provided with a fourth rotary joint 314, the sixth-stage arm 313 is connected with the chuck 4 through the fourth rotary joint 314, and the microwave needle 5 is slidably mounted on the chuck 4.

The joint is realized through the rotation of motor drive speed reducer, and rotatory speed reducer body is connected with the last level arm, and rotatory speed reducer output then is connected with the next level arm, and this speed reducer joint still is furnished with anti damping unit, and anti damping unit and control hardware electric connection make things convenient for the manual position of adjusting arm 3 of doctor.

The robot arm 3 further includes seven force sensors, and the force sensors are respectively connected to the first turning joint 304, the second turning joint 308, the third turning joint 312, the first rotating joint 302, the second rotating joint 306, the third rotating joint 310, and the fourth rotating joint 314. The force sensor adopts a miniature torque force sensor. Each force sensor is connected with the output end of the rotary speed reducer respectively, and the sensors are used for detecting whether the mechanical arm 3 is blocked in the process of moving, and once an abnormality such as the mechanical arm 3 touches other equipment or the body of a patient is found, the force sensors give an alarm and stop the movement of the motor 9.

The control system further comprises an emergency stop switch 8 for stopping the work of the mechanical arm and an impedance control enabling button 9 for converting into manual operation, the emergency stop switch 8 is positioned on the supporting base 2, the impedance control enabling button 9 is positioned on the chuck 4, and the emergency stop switch 8 and the impedance control enabling button 9 are both electrically connected with the force sensor and the control hardware. If the doctor judges that the position of the mechanical arm 3 is not suitable for needle insertion, the doctor can stop the motion of the mechanical arm 3 through the emergency stop switch 8, and after the motion of the mechanical arm 3 is stopped, the doctor can press the impedance control enabling button 9 to manually operate and move the mechanical arm 3 to an ideal position.

The control system further comprises a signal input interface 6 and a signal output interface 7, wherein the signal input interface 6 is located on the outer wall of the supporting base 2 and electrically connected with the control hardware, and the signal output interface 7 is located on the outer wall of the supporting base 2 and electrically connected with the recording hardware. The signal input mainly refers to the CT result, the input interface receives the CT result and guides the CT result into the control hardware, the control hardware is converted into three-dimensional modeling after processing, and meanwhile, the recorder reflects the state of the mechanical arm 3 on the three-dimensional modeling so that a doctor can intuitively master the operation process. The signal output mainly refers to the state of the mechanical arm 3 recorded by the three-dimensional modeling and recording instrument which is converted, and the signal output interface 7 can transmit signals to an external terminal, such as a screen 10, so that a doctor can check data more conveniently.

The control hardware is electrically connected with the microwave energy adjusting hardware and the moving system, the microwave energy adjusting hardware is electrically connected with the microwave needle 5, and the recording hardware is electrically connected with the control hardware and the moving system to ensure the normal operation of the whole equipment. The control hardware analyzes CT and converts into three-dimensional modeling and calculates the energy required by necrotizing the tumor tissue, transmits the signal to the microwave energy adjusting hardware, and controls the output power of the microwave needle 5 through the signal, so that the tumor tissue loses activity.

The whole using process of the robot is that a patient lies on an operating table to be completely prepared and waits for an operation; a doctor firstly introduces the CT of a patient into the robot through a signal input interface 6, the robot is converted into a three-dimensional model through the processing of control hardware and is transmitted to an external screen 10 through a signal output interface 7, the robot generates the optimal needle inserting position of a microwave needle 5, the motion route of a mechanical arm 3 and the power of the microwave needle 5 required by tumor removal through the control hardware, and the robot starts to move after the doctor confirms; if the movement process of the robot is blocked, the force sensor sends a signal to stop the operation of the robot; if the doctor is not satisfied with the position judged by the robot, the doctor can temporarily stop the operation of the mechanical arm 3 through the emergency stop switch 8, press the impedance control enabling key 9 and manually control the position of the robot; after the position is fixed, a doctor manually puts down the needle under the assistance of the robot, and the microwave needle 5 starts to work to generate high heat to lead tumor tissues to be necrotic and lose activity.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. A microwave ablation robot is characterized by comprising a control system, a moving system and a microwave ablation system, wherein the microwave ablation system comprises a microwave needle and microwave energy adjusting hardware, and the moving system comprises a mechanical arm and a supporting base; the control system comprises recording hardware and control hardware; the microwave energy microwave oven is characterized in that the mechanical arm is arranged at the top of the supporting base, a chuck is fixedly arranged at the end of the mechanical arm, the microwave needle is slidably mounted on the chuck, a cavity is formed in the supporting base, a cavity door is arranged on one side of the supporting base, the recording hardware, the control hardware and the microwave energy adjusting hardware are arranged in the cavity, the control hardware is electrically connected with the recording hardware and the microwave energy adjusting hardware, and the microwave energy adjusting hardware is electrically connected with the microwave needle.

2. A microwave ablation robot according to claim 1, wherein: the arm includes multistage arm and a plurality of connecting piece, be equipped with between the arm the connecting piece, the connecting piece includes rotary joint and upset joint.

3. A microwave ablation robot according to claim 2, wherein: the quantity of arm is six, the arm includes one-level arm, second grade arm, tertiary arm, level four arm, five-level arm and six level arm, one-level arm with the second grade arm tertiary arm with level four arm with five level arm with pass through between the six level arm the upset joint links to each other, the second grade arm with tertiary arm level four arm with five level arm with six level arm in pass through between the chuck rotary joint links to each other.

4. A microwave ablation robot according to claim 3, wherein: the mechanical arm further comprises a connecting seat, and the connecting seat is fixedly connected with the supporting base.

5. A microwave ablation robot according to claim 4, wherein: the connecting seat is connected with the first-stage arm through the rotary joint.

6. A microwave ablation robot according to claim 5, wherein: the mechanical arm further comprises seven force sensors, and the force sensors are fixedly connected with the overturning joints and the rotating joints respectively.

7. A microwave ablation robot according to claim 6, wherein: the control system further comprises an emergency stop switch, the emergency stop switch is located on the supporting base, and the emergency stop switch is electrically connected with the control hardware.

8. A microwave ablation robot according to claim 1, wherein: the control system further comprises an impedance control enabling key, the impedance control enabling key is located on the chuck, and the impedance control enabling key is electrically connected with the control hardware.

9. A microwave ablation robot according to claim 1, wherein: the control system further comprises a signal input interface and a signal output interface, the signal input interface is located on the outer wall of the supporting base and electrically connected with the control hardware, and the signal output interface is located on the outer wall of the supporting base and electrically connected with the recording hardware.

10. A microwave ablation robot according to claim 1, wherein: the control hardware is electrically connected with the mobile system, and the recording hardware is electrically connected with the mobile system.