CN114305698B

CN114305698B - A thread-assisted motion device, a drive system and a control method

Info

Publication number: CN114305698B
Application number: CN202111633001.6A
Authority: CN
Inventors: 金慧杰; 史鼎盛; 夏良道; 于成凯
Original assignee: Hangzhou Jialiang Medical Technology Co ltd
Current assignee: Hangzhou Jialiang Medical Technology Co ltd
Priority date: 2021-12-28
Filing date: 2021-12-28
Publication date: 2024-12-03
Anticipated expiration: 2041-12-28
Also published as: CN114305698A

Abstract

The present invention relates to a wire-assisted motion device, a driving system and a control method, and belongs to the technical field of ablation surgical devices. A wire-assisted motion device includes a frame, a linear motion component and a rotary motion component, wherein the rotary motion component is movably arranged in the ring neck of the linear motion component, and the rotary motion component is detachably connected to an optical fiber catheter; the wire-assisted motion device also includes a driving component, on which a linear transmission wire and a rotary transmission wire are wound; one end of the linear transmission wire is wound on the linear motion component, and one end of the rotary transmission wire is wound on the rotary motion component; the linear transmission wire is used to drive the linear motion component to perform linear motion; the rotary transmission wire is used to drive the rotary motion component to perform rotary motion. The present invention realizes the simultaneous linear motion and rotary motion of the optical fiber catheter, and also realizes that linear and rotary transmission can be completed with one motor, thereby simplifying the device structure.

Description

Silk thread auxiliary movement device, driving system and control method

The invention relates to the technical field of ablation surgical devices, in particular to a silk thread auxiliary movement device, a driving system and a control method.

Background

The medical robot is a novel cross research field integrating various subjects such as medicine, biomechanics, mechanics, mechanomotion, mechanics, materials, computer graphics, computer vision, mathematical analysis, robots and the like, and is a research hotspot in the current domestic and foreign robot fields. The medical robots most commonly used in the neurosurgery field are also called surgical robots, and in the surgical robot system, the auxiliary robots occupy approximately 17% of the surgical operations, which are one of the common auxiliary devices in the daily surgical operations. With the continuous development of technology, the surgical robot will develop toward miniaturization, specialization, low cost, intellectualization and automation, and will lead the minimally invasive surgery to enter a new era.

By taking MRgLITT as an example, MRgLITT is short for a magnetic resonance imaging guided laser interstitial hyperthermia technology, the technology can realize the real-time hyperthermia to pathological tissues (brain tumor, epileptic focus, radionecrosis and the like) by the help of intraoperative magnetic resonance, and the pathological tissues are precisely destroyed by proper and safe temperature and hyperthermia range without damaging normal brain tissues and nerve vascular structures around pathological changes, so that the technology is a brand-new minimally invasive brain tumor treatment technology. Generally, before thermal therapy is implemented, the insertion depth, the light emitting direction or angle, etc. of a laser transmission apparatus (such as an optical fiber catheter) are planned, and in the operation process, the acting position and the light emitting direction or angle of the optical fiber catheter are also adjusted in real time under the guidance of magnetic resonance so as to achieve the purpose of conformal ablation. Therefore, in the laser ablation operation, the control of the movement direction of the optical fiber catheter has higher precision requirement.

At present, MRgLITT technology is still in a breeding development stage, but the existing similar or other fields of operation auxiliary robots still have the following problems, so that the existing similar or other fields of operation auxiliary robots cannot be directly used in the laser ablation operation, ① is not yet mature auxiliary tools in China, and the existing auxiliary robots are applicable to magnetic resonance environments and can accurately control the movement track of an optical fiber catheter. ② The drive source of the existing surgical auxiliary device is either manually operated or driven by a drive mechanism. The manual operation has the defects that the manual control accuracy of the optical fiber catheter can only reach 1mm at most, the control accuracy (usually less than 0.5 mm) required by laser ablation operation is far away, the manual adjustment mode can prolong the operation time, and the risk brought to a patient is relatively large. The auxiliary robot with the automatic driving mechanism has more advantages in precision than manual regulation and control, but the existing driving mechanism is generally integrally designed on the operation auxiliary robot, the operation of the driving mechanism can influence the scanning precision of MRI, noise artifacts and the like are generated on a scanned image, and certain obstruction is brought to subsequent real-time analysis. ③ Considering that the LITT technology is in the early stage of development and application, the azimuth control of the fiber catheter still needs to walk through two legs, so that the manual regulation and control precision can meet the operation requirement, and the full-automatic driving under the magnetic resonance environment can be met, but no operation auxiliary robot capable of realizing double accurate regulation and control, which can be manually controlled and fully automatically controlled, exists at present, so as to meet the operation requirement of high-precision tip. ④ The prior auxiliary surgical robot in the similar field has complex structure, large volume and large weight, if the auxiliary surgical robot is used in laser ablation surgery, a headstock and a clamp are required to be additionally used for fixing, which may cause that a fixing device for limiting the running track of the optical fiber catheter is additionally added on the path of the optical fiber catheter entering a target area, once the positioning of the fixing device is deviated, the implementation of a clinical operation path is influenced, inconvenience is brought to an operator, and the use of the clamp is easy to damage surgical instruments. ⑤ The prior surgical auxiliary robot in the similar field has complicated structure for realizing linear and/or rotary motion, and can be realized by a plurality of combined designs among a plurality of parts, the transmission of the multiple parts is easy to reduce the force transmission precision, and the device is easy to cause problems in the operation process, thereby greatly reducing the operation stability and reliability of the surgical auxiliary robot.

Therefore, it is necessary to develop a double-precision operation auxiliary robot which is more intelligent, safer, has small error, can assist medical staff and can realize high-precision control under the guidance of magnetic resonance.

Disclosure of Invention

In view of the above analysis, the invention aims to provide a silk thread auxiliary movement device, a driving system and a control method, which are used for realizing the high-precision control requirement under the control of double driving sources by adopting a very simple structure, can finish the precise regulation and control of the azimuth of surgical instruments by only matching with skull nails, and can be suitable for a nuclear magnetic environment.

The aim of the invention is mainly realized by the following technical scheme:

a wire assisted movement device comprising:

the device comprises a rack, a linear motion assembly, a support and a support, wherein the linear motion assembly is arranged on the rack and is in sliding connection with the rack and comprises a circular neck;

the rotary motion assembly is movably arranged in the annular neck;

The optical fiber guide tube comprises a driving assembly, a linear transmission wire and a rotary transmission wire, wherein the linear transmission wire and the rotary transmission wire are wound on the driving assembly, the linear transmission wire is wound on the rotary motion assembly, the linear transmission wire is used for driving the linear motion assembly to conduct linear motion, the linear motion assembly can drive the rotary motion assembly to conduct linear motion, the rotary transmission wire is used for driving the rotary motion assembly to conduct rotary motion, and the rotary motion assembly can drive the optical fiber guide tube to conduct rotary motion.

Further, a third fixed through hole and a third movable through hole which are arranged in parallel are formed in the linear motion assembly, one side of the linear transmission wire penetrates through and is fixed on the third fixed through hole, the other side of the linear transmission wire penetrates through the third movable through hole, and the linear transmission wire can freely move in the third movable through hole.

Further, the rotary motion assembly comprises an optical fiber catheter fixing part, the optical fiber catheter fixing part is movably arranged in the annular neck, a guide wheel is movably arranged at the opening of the annular neck, one end of the rotary transmission wire is wound and fixed on the optical fiber catheter fixing part, and the other end of the rotary transmission wire is wound on the driving assembly after passing through the guide wheel.

Further, a circumferential groove is formed in the optical fiber catheter fixing portion, at least one positioning column is arranged on the circumferential groove, and the rotary transmission wire is fixed on the positioning column.

Further, the drive assembly includes a first manual adjustment portion and a second manual adjustment portion; the first manual adjusting part comprises a first rotating shaft and a first rotating wheel which are fixedly connected, the first rotating wheel is wound with the linear transmission wire, the second manual adjusting part comprises a second rotating shaft and a second rotating wheel which are fixedly connected, the second rotating wheel is wound with the rotary transmission wire, the first rotating shaft is driven to drive the linear motion assembly to conduct linear motion, the second rotating shaft is driven to drive the rotary motion assembly to conduct rotary motion, and the rotary motion assembly can drive the optical fiber guide tube to conduct rotary motion.

Further, the driving assembly further comprises a first driving device and a second driving device, wherein the first driving device is detachably connected with the first rotating shaft, and the second driving device is detachably connected with the second rotating shaft.

The frame further comprises a guide part, a front cover and a rear cover, wherein the guide part comprises a guide rail arranged between the front cover and the rear cover, a guide rail guide groove is formed in the linear motion assembly, and the guide rail is in sliding connection with the guide rail guide groove.

Further, a position sensor is arranged on the motion assembly.

Further, the front cover of the frame is provided with a fixing part, the fixing part is provided with a through hole which penetrates axially, and the through hole is fixedly connected with the skull nail.

Further, the device comprises a remote control system and a robot, and is characterized in that the robot comprises a communication module, a processing module and the silk thread auxiliary movement device, and the remote control system is electrically connected with the robot and is used for controlling the movement of the optical fiber catheter in the silk thread auxiliary movement device.

Further, the driving assembly is directly driven to operate manually or remotely and fully automatically so as to drive the linear motion assembly and the rotary motion assembly to execute linear motion and/or rotary motion.

Compared with the prior art, the invention has at least one of the following beneficial effects:

(1) The optical fiber guide tube in the rack performs self-rotation motion through the rotation motion assembly under the drive of the second driving device, and the linear motion assembly drives the rotation motion assembly arranged on the linear motion assembly to perform synchronous linear motion under the drive of the first driving device, so that the optical fiber guide tube, the rotation motion assembly and the linear motion assembly achieve the synchronism of linear motion, and the optical fiber guide tube can perform linear motion and rotation motion in the rack at the same time.

(2) The linear driven motion part comprises a rotary motion assembly and a cover plate, wherein the rotary motion assembly is arranged in the linear driven motion part, so that synchronous linear position motion output of the rotary motion assembly and the linear motion assembly is realized.

(3) The linear driven motion part is matched with the cover plate, the cavity is arranged in the linear driven motion part, and the cavity is matched with the rotary motion assembly and is used for accommodating the rotary motion assembly and playing a role of fixing and limiting at the same time, so that the optical fiber catheter in the rotary motion assembly realizes linear motion output and self rotation without generating offset in other directions, thereby increasing the accuracy of the whole operation

(4) According to the invention, the outer circumference of the tail end of the positioning rib is provided with the arc-shaped convex part, the outer diameter of the positioning rib is equal to the diameter of the positioning rib matching groove, and the diameter of the arc-shaped convex part is larger than the diameter of the positioning rib matching groove, so that the arc-shaped convex part can be clamped on the outer wall of the positioning rib matching groove, thereby mutually clamping and fixing the optical fiber guide pipe and the rotary motion assembly together, and preventing the occurrence of slipping or shifting, and further ensuring the concentric position of the optical fiber guide pipe.

(5) The fixing part is provided with a through hole, one end of the fixing part is fixedly arranged on one side of the frame, the through hole and the optical fiber catheter fixing part are coaxially arranged, the other end of the fixing part is detachably connected with a supporting part such as a skull nail and a head coil for fixing the device on the head, an operation channel established by the skull nail is ensured to be coaxial with the through hole, and the direction accuracy of linear motion is ensured, so that the application range of the device is wider.

(6) The guide part comprises two guide rails which are symmetrically arranged on two sides of the upper side of the frame respectively, the guide rails are matched with guide rail guide grooves on the linear motion assembly, and the linear motion assembly moves linearly on the guide rails in the same direction with the optical fiber guide pipe through the first driving device, so that the linear motion assembly can move in an oriented mode, namely, the guide rails play a role in positioning and orienting on the movement of the optical fiber guide pipe.

(8) The two driving sources for controlling the optical fiber guide tube to realize linear and/or rotary motion can be full-automatic control or manual control, and the position of the optical fiber guide tube can be adaptively changed by selecting a proper driving source according to the needs and the demands. And no matter full-automatic control or manual control, the position sensor signal output can be realized so as to ensure the accuracy of the movement of the optical fiber catheter, the operability is changeable, and the application range is wider.

(9) The motion component is preferably made of nonmetal materials, has light finishing weight and does not affect the MR image quality, can realize that the whole weight is less than 40g, and can be used together with a head coil in a light and handy way. The driving part is fixed far away from the moving part and fixed on a specific bed body support platform, so that the operation is firm and convenient. At the same time, the method also ensures that the image is not in the MR scanning area and the image quality is not affected.

(10) The first driving wheel and the second driving wheel are driven by the same driving motor, the switching device is arranged in the driving motor, and the rotating force of the motor can be respectively distributed to the first driving wheel or the second driving wheel through the switching device, so that the motion output of the linear motion assembly and the rotary motion assembly is realized, and the linear motion assembly is simple and convenient in structure, low in cost and low in energy consumption.

(11) The invention is also provided with a circular tape and a rotary position sensor for feeding back the rotary motion of the rotary motion assembly, i.e. the rotary motion of the optical fiber catheter. At the same time, a linear position sensor and a straight ruler belt are also arranged, the linear position sensor is used for feeding back the linear output motion of the linear motion assembly, namely the linear motion of the optical fiber catheter, so that an operator can perform the next ablation operation according to the fed-back linear/rotary motion condition

In the invention, the technical schemes can be mutually combined to realize more preferable combination schemes. Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.

FIG. 1 is a schematic diagram of a system structure of a yarn auxiliary movement device according to the present invention;

FIG. 2A is a side cross-sectional view of the motion assembly of the present invention;

FIG. 2B is an exploded view of the motion assembly of the present invention;

FIG. 2C is a second exploded view of the motion assembly of the present invention;

FIG. 3 is a top cross-sectional view of the yarn assist movement device of the present invention;

FIG. 4A is a side cross-sectional view of a motion assembly according to the present invention;

FIG. 4B is a side cross-sectional view III of the motion assembly of the present invention;

FIG. 4C is a side cross-sectional view of a motion assembly of the present invention;

FIG. 4D is a fifth side cross-sectional view of the motion assembly of the present invention;

FIG. 5 is a schematic view of a fiber optic catheter securing portion according to the present invention;

FIG. 6A is a schematic diagram illustrating the connection between a fiber optic catheter fixing portion and a fiber optic catheter according to the present invention;

FIG. 6B is an unassembled perspective view of a fiber optic catheter securement of the present invention;

FIG. 6C is a schematic view of a combination of the fixing portions of the optical fiber catheter according to the present invention;

FIG. 7 is a schematic view of a manual adjustment portion according to the present invention;

FIG. 8A is a side view of a drive assembly according to one embodiment of the present invention;

FIG. 8B is a diagram illustrating a second embodiment of a driving assembly structure;

FIG. 8C is a third diagram illustrating a test of the structure of the driving assembly according to the present invention;

FIG. 9A is a schematic diagram of a driving assembly according to the present invention;

FIG. 9B is a schematic diagram of a driving assembly according to a second embodiment of the present invention;

FIG. 9C is a schematic diagram of a driving assembly according to the third embodiment of the present invention;

fig. 10A is a second schematic diagram of a system structure of the yarn auxiliary movement device of the present invention;

fig. 10B is a schematic diagram of a system structure of the yarn auxiliary movement device of the present invention;

FIG. 11A is a schematic diagram of a remote control system according to the present invention;

Fig. 11B is a schematic diagram of a remote control system according to the present invention.

Reference numerals:

The frame 1, the linear motion assembly 2, the linear driving wire 21, the linear driving motion 22, the linear driven motion 23, the guide rail guide groove 24, the perforation 230, the collar 231, the notch 2310, the linear position sensor 25, the straight blade 26, the rotary motion assembly 3, the rotary driving wire 31, the guide wheel 32, the optical fiber guide tube 4, the optical fiber fixing portion 41, the optical fiber 42, the positioning rib 410, the arc protrusion 4101, the optical fiber guide tube fixing portion 5, the optical fiber guide tube fixing portion 51, the first concave cavity 511, the second concave cavity 512, the boss 513, the positioning groove 514, the circular groove 5141, the positioning rib fitting groove 5142, the annular groove 5120, the optical fiber guide tube fixing member 52, the snap-fit inner block 521, the bifurcated end 5211, the protrusion 5212, the snap-fit outer block 522, the round hole 5221, the positioning rib 5222, the arc protrusion 5223, the circular blade 53, the rotary position sensor 54, the fixing portion 6, the through hole 60, the fixing hole 61, the guide portion 7, the guide rail 71, the bottom cover 11, the rear cover 12, the first through hole 121, the front cover 13, the second through hole 131, the wire rotating part 130, the arc-shaped groove 1301, the cover plate 232, the first hole 2320, the connection arm 2321, the connection hole 2322, the first driving device 8, the second driving device 9, the first driving wheel 80, the second driving wheel 90, the third through hole 220, the third fixing through hole 221, the third movable through hole 222, the fourth through hole 1201, the first housing 100, the first manual adjusting part 100A, the second manual adjusting part 100B, the accommodating chamber a, the accommodating chamber B, the second housing 200, the first rotating shaft 101, the first rotating wheel 102, the second rotating shaft 103, the second rotating wheel 104, the third housing 300, the sliding groove 10A, the sliding part 20A, the fixing member 20B, the first opening 300A, the second opening 300B, the marking ruler 300C, the grip part 1011, the groove 1021, the guide boss 1021a, and the rotation damper 101a.

Detailed Description

A yarn auxiliary movement device, a driving system and a control method are described in further detail below with reference to specific examples, which are for comparison and explanation purposes only, and the present invention is not limited to these examples.

In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the term "coupled" should be interpreted broadly, for example, as being fixedly coupled, as being detachably coupled, as being integrally coupled, as being mechanically coupled, as being electrically coupled, as being directly coupled, as being indirectly coupled via an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

The terms "top," "bottom," "above," "below," and "above" are used throughout the description to refer to relative positions of components of the device, such as the relative positions of the top and bottom substrates inside the device. It will be appreciated that the devices are versatile, irrespective of their orientation in space.

The working surface of the invention can be a plane or a curved surface, and can be inclined or straight. For convenience of explanation, the embodiments of the present invention are placed on and used on a straight plane, and thus define "up and down" and "up and down".

As shown in fig. 1, 10A and 10B, the present invention provides a wire auxiliary movement device, which has a dual driving source for manual control and full-automatic control, and is integrally made of a nuclear magnetic compatible material, and the full-automatic control driving device is preferably an ultrasonic motor, so that the auxiliary movement device can be used in a magnetic resonance environment, and can realize high-precision control on movement of an interventional surgical instrument under guidance of magnetic resonance. The auxiliary movement device comprises a frame 1 and a movement assembly arranged on the frame 1. The motion component is used for driving the interventional surgical instrument to complete linear motion and rotary motion under the driving of the driving force. Further, the motion assembly includes a linear motion assembly 2 and a rotary motion assembly 3, where the linear motion assembly 2 and the rotary motion assembly 3 may be integrally provided, or may be detachably provided in a split manner, which is not limited herein.

Furthermore, the linear motion assembly 2 can drive the rotary motion assembly 3 to perform linear motion together under the driving of the driving force, in addition, the rotary motion assembly 3 can perform rotary motion relative to the linear motion assembly 2 under the driving of the driving force, and the rotary motion assembly 3 can drive the interventional surgical instrument to perform rotary motion together. The driving force is derived from manual driving control or full-automatic driving control.

The structure, function and effect of the present invention will be described in detail below using MRgLITT technology and an optical fiber catheter applied to the MRgLITT technology as examples.

Example 1

The invention provides an auxiliary movement device which comprises a movement assembly and a driving assembly, wherein the movement assembly and the driving assembly are arranged in a split mode, a certain arrangement distance is reserved between the movement assembly and the driving assembly in actual use, namely, the driving assembly is far away from a nuclear magnetic main body or a magnetic resonance chamber, firstly, the influence of the driving assembly on magnetic resonance imaging and temperature measurement technology is avoided, secondly, the weight of the movement assembly is reduced, the volume and the weight of the movement assembly are reduced to the minimum, and the movement assembly can be fixedly connected with a skull nail without an additional fixing device. Furthermore, the driving means of the driving assembly is preferably an ultrasonic motor to be suitable for use in a nuclear magnetic environment.

Referring to fig. 1 and 2A to 2C, the motion assembly includes a linear motion assembly 2 and a rotary motion assembly 3, and the linear motion assembly 2 and the rotary motion assembly 3 are disposed on a frame 1. Specifically, the linear motion assembly 2 includes a linear transmission wire 21, a linear driving motion portion 22, and a linear driven motion portion 23. The linear driving movement part 22 and the linear driven movement part 23 are arranged on the same vertical plane, the linear driving movement part 22 is positioned below the linear driven movement part 23, guide rail guide grooves 24 are symmetrically arranged on two sides of the joint of the linear driving movement part 22 and the linear driven movement part 23, and the guide rail guide grooves 24 are preferably formed integrally.

Referring to fig. 3, further, the frame 1 is a generally rectangular frame structure having two opposite sides that are relatively long and two opposite sides that are relatively short. More specifically, the upper part of two opposite sides of the frame 1 is provided with a guide part 7, the lower part is provided with a bottom cover 11, one side of the two opposite sides of the frame 1, which are relatively shorter, is provided with a front cover 13, and the other side is provided with a rear cover 12. The front cover is provided with a fixing part 6. The guide part 7 comprises two guide rails 71, and the guide rails 71 are symmetrically arranged on two sides of the upper part of two opposite sides of the frame 1. Further, both ends of the guide rail 71 are connected to the front cover 13 and the rear cover 12, respectively. The guide rail 71 is slidably arranged in cooperation with the guide rail guide groove 24 to movably arrange the linear motion assembly 2 on the frame 1. Preferably, the fixing portion 6 is integrally formed with the front cover 13, and the fixing portion 6 is provided with a through hole 60 passing through in an axial direction and a fixing hole 61 perpendicular to and communicating with the through hole 60. The fixing part 6 is used for fixedly connecting with the skull nail to form a skull operation channel through which a surgical instrument, such as a fiber optic catheter 4, can pass. More preferably, the guide rail 71 and the guide rail guiding groove 24 are not necessary components in the present invention, and the guide rail 71 and the guide rail guiding groove 24 can more precisely limit the movement track of the linear movement assembly 2 to a straight line, so as to play a role in positioning and directional movement. In a preferred embodiment of the present invention, as shown in fig. 4C, in order to make the operation of the linear motion assembly 2 smoother, two through holes through which guide shafts can pass may be provided at the linear driving portion 22, and both ends of the guide shafts are fixed to the rear cover 12 and the front cover 13. The fixing mode of the guide shaft is the prior art and is not repeated.

The rear cover 12 is provided with two first through holes 121 through which the linear driving wires 21 can pass, the two first through holes 121 are respectively and bilaterally symmetrically arranged, and preferably, the two first through holes 121 are positioned on the same horizontal plane. The front cover 13 is symmetrically provided with two second through holes 131, the two second through holes 131 are respectively and bilaterally symmetrically arranged, preferably, the two second through holes 131 are positioned on the same horizontal plane, the two first through holes 121 are respectively and mutually matched with the two second through holes 131, preferably, the first through holes 121 are positioned on the same horizontal plane and correspondingly coaxially arranged, so that the linear transmission wire 21 can pass through the two first through holes 121 and the two second through holes 131 to form two linear transmission wires 21 which are parallel to each other and parallel to the bottom cover 11. Further, an arc-shaped wire turning part 130 protrudes outwards from the front cover 13 between the two second through holes 131, and the wire turning part 130 has an arc-shaped groove 1301. Preferably, the center of the arc-shaped groove 1301 is in the same horizontal plane as the center of the second through hole 131.

Referring to fig. 4A to fig. 4D, two third through holes 220 are further disposed on the linear motion assembly 2, the third through holes 220 include a third fixed through hole 221 and a third movable through hole 222, the two third through holes 220 are horizontally disposed, and the direction of opening the two third through holes 220 is in the same direction as the moving direction of the linear active motion portion 22. The two first through holes 121, the two second through holes 131 and the two third through holes 220 are respectively arranged on the same straight line surface and are correspondingly and coaxially arranged.

Specifically, the third movable through hole 222 is a friction-free movable through hole, more preferably, the third movable through hole 222 is a non-closed through hole or the third movable through hole 222 may be an open slot (as shown in fig. 4A), the linear driving wire 21 is not in contact with the hole wall of the third movable through hole 222, and the linear driving wire 21 may freely move in the third movable through hole 222. The linear driving wire 21 passes through the third fixing hole 221 and is fixed on the linear driving portion 22, so that the linear driving portion 22 can perform synchronous and equidirectional movement along with the movement direction of the linear driving wire 21. Further, the fixing manner of the linear driving wire 21 and the linear driving portion 22 is not unique, and the linear driving wire 21 may be wound around the third fixing hole 221, so as to fix the linear driving wire 21 and the linear driving portion 22. Of course, the linear driving wire 21 may be adhered and fixed on the linear driving portion 22 by glue or the like.

Specifically, the linear driving wire 21 sequentially passes through the first through hole 121, the third fixed through hole 221 and the second through hole 131 on the same side, so that the linear driving wire 21 is turned from the wire turning part 130 and then passes out of the front cover 13, and the linear driving wire 21 sequentially passes through the second through hole 131, the third movable through hole 222 and the first through hole 121 on the opposite side and then passes out of the rear cover 12. The invention realizes that the linear transmission wire 21 is fixed with one end of the third fixing through hole 221, thereby realizing that the linear transmission wire drives the linear active motion part 22 to synchronously and equidirectionally move. Further, one end of the linear transmission wire 21 far away from the frame 1 is in transmission connection with a driving device, and the driving device drives the linear transmission wire 21 to move, so as to drive the linear active movement part 22 to output linear movement.

Referring to fig. 4A to fig. 4D, and fig. 5, the rotary motion assembly 3 includes a rotary driving wire 31, a guide wheel 32, and an optical fiber catheter fixing portion 5, a circumferential groove 33 is formed on the outer circumference of the optical fiber catheter fixing portion 5, a receiving groove 331 and a positioning post 332 are disposed on the circumferential groove 33, the rotary driving wire 31 continuously surrounds the circumferential groove 33 for a plurality of circles, wherein one circle passes through the receiving groove 331 and bypasses the positioning post 332, and the invention enables the rotary driving wire 31 to achieve an anti-slip effect through the receiving groove 331 and the positioning post 332 in the moving process. Furthermore, the accommodating groove 331 is not an essential component, that is, the circumferential groove 33 may be provided with only the positioning post 332, the rotation driving wire 31 continuously surrounds the circumferential groove 33 for a plurality of circles, and one circle of rotation driving wire 31 bypasses and is fixed on the positioning post 332, so that slipping phenomenon of the rotation driving wire 31 during the moving process can be avoided. Further, fixing a point of the rotary transmission wire 31 with the accommodating groove 331 by means of gluing or the like is equivalent to ensuring that a point of the rotary transmission wire 31 is fixed relative to the optical fiber catheter fixing portion 5 and does not generate relative movement, so that the rotary motion assembly 3 is driven to synchronously perform rotary motion by the motion of the transmission wire 31.

In embodiment 1 of the present invention, the rotary motion assembly 3 is movably connected to the linear driven motion portion 23 of the linear motion assembly 2, and specifically designed to:

Referring to fig. 2A to fig. C, and fig. 4A to fig. 4D, the linear driven motion portion 23 is provided with a through hole 230, a collar 231 is disposed around the through hole 230, and the optical fiber catheter fixing portion 5 is movably disposed in the collar 231. Preferably, the diameter of the collar 231 is larger than the diameter of the through hole 230, and the diameter of the collar 231 is matched with the diameter of the optical fiber catheter fixing part 5 so as to realize the rotation movement of the optical fiber catheter fixing part 5 in the collar 231. The collar 231 is a non-closed ring, and a notch 2310 is formed at the lower portion thereof. The notch 2310 of the collar 231 is movably provided with the guide wheel 32. The guide wheel 32 is a reducing cylinder, so as to prevent the two paths of the rotary transmission wires 31 forming a closed loop from being wound together in a crossed manner, and further influence the movement precision of the rotary movement assembly 3. Meanwhile, the guiding wheel 32 has a guiding function, and converts the rotary transmission wire 31 wound on the optical fiber catheter fixing part 5 in the vertical direction into a horizontal direction, so that the rotary transmission wire 31 can be converted into a vertical acting force through the guiding of the guiding wheel 32 after being driven by the horizontal driving force, and the rotary motion of the optical fiber catheter fixing part 5 can be realized. Further, one end of the rotary transmission wire 31 far away from the frame 1 is in transmission connection with a driving assembly after passing through two fourth through holes 1201 formed in the rear cover 12, and the driving assembly drives the rotary transmission wire 31 to move, so as to drive the optical fiber catheter fixing part 5 to output rotary motion. Further, the rotating transmission wire 31 bypassing the circumferential groove 33 bypasses the guide wheel 32 and is in transmission connection with a driving device, and the rotating transmission wire 31 drives the rotating motion assembly 3 to perform rotating motion through driving of the driving device, so as to drive the optical fiber catheter 4 fixed on the optical fiber catheter fixing part 5 to perform synchronous and same-direction rotating motion.

Further, in order to enhance the movement stability of the rotary motion assembly 3, a cover 232 matching with the linear driven motion part 23 and the collar 231 is fixedly disposed on the periphery of the collar 231. The cover 232 is provided with a first hole 2320, the first hole 2320 is formed at a position corresponding to the collar 231, and a diameter of the first hole 2320 is smaller than a diameter of the optical fiber catheter fixing portion 5. The accommodation cavity between the cover plate 232 and the collar 231 is used for accommodating the optical fiber catheter fixing part 5 and the optical fiber catheter fixing part 41, and plays roles of fixing and limiting. Preferably, the optical fiber guide fixing portion 5 and the optical fiber fixing portion 41 are detachably connected. The first hole 2320 of the cover plate 232, the optical fiber catheter fixing portion 5, the perforation 230, the through hole 60, the optical fiber catheter 4, and the through hole of the skull nail are arranged coaxially, so that the optical fiber catheter 4 in the rotary motion assembly 3 realizes linear motion and self rotary motion, and does not generate offset in other directions, thereby increasing the motion accuracy of the auxiliary motion device.

Further, two connection arms 2321 are further extended from two sides of the bottom of the cover plate 232, connection holes 2322 are formed in the connection arms 2321, the sizes of the two connection holes 2322 on two sides are respectively matched with the connection ends of the two ends of the guide wheel 32, and the length of the connection arms 2321 is matched with the depth of the annular neck 231. During installation, the connecting arm 2321 extends into the notch 2310 of the collar 231, and simultaneously four corners of the cover plate 232 are fixedly connected with the collar 231, and the connecting arm 2321 is movably connected with the guide wheel 32 through the connecting hole 2322. More preferably, one end of the guiding wheel 32 is movably connected with only one of the connecting holes 2322, the other end of the guiding wheel 32 is a free end, it is ensured that the guiding wheel 32 is limited in the accommodating cavity between the cover plate 232 and the collar 231, and the guiding wheel 32 can also realize movable transmission, so that the rotating transmission wire 31 in the horizontal direction is conveniently guided by the guiding wheel 32 and is wound on the optical fiber catheter fixing part 5 in the vertical direction, and further the rotating movement of the optical fiber catheter fixing part 5 is realized.

The auxiliary movement device further comprises a driving component which is far away from the movement component, and the linear transmission wire 21 and the rotary transmission wire 31 of the movement component are respectively in transmission connection with the driving component. The motion assembly is driven by the driving assembly to realize linear motion and/or rotary motion. Further, the driving assembly drives the linear transmission wire 21 to perform linear motion, the linear transmission wire 21 can drive the linear motion assembly 2 to perform linear motion, further drive the rotary motion assembly 3 arranged on the linear motion assembly 2 to perform synchronous linear motion, further drive the optical fiber catheter fixing portion 5 arranged on the rotary motion assembly 3 and the optical fiber catheter 4 to perform linear motion together, and the driving assembly is further used for driving the rotary transmission wire 31 to perform rotary motion, and further drive the optical fiber catheter fixing portion 5 to perform rotary motion. Of course, the linear driving wire 21 can also perform the rotary motion at the same time of performing the linear motion, so that the optical fiber catheter 4 can further perform the linear motion and the rotary motion at the same time.

Further, the linear transmission wire 21 and the rotary transmission wire 31 are wrapped with PTFE (polytetrafluoroethylene) tubes, one end of each PTFT tube is fixed to the rear cover 12, and the other end is fixed to a drive fixing plate or housing mounted on the drive assembly. Because both ends of the PTFT tube are limited at fixed positions, the linear transmission wire 21 and the rotary transmission wire 31 are in a tight state in real time under the holding of the PTFT tube, the transmission accuracy is improved, long-distance transmission is realized, and meanwhile, bending connection can be realized to adapt to narrow environments such as a head coil or a head frame without being influenced. That is, when the motion assembly and the driving assembly are not aligned, connectivity and operation stability between the two can be achieved by the clamping of the PTFT tube.

In addition, the moving assembly is preferably made of non-metal materials, has light finishing weight and does not influence MR image quality, can realize that the whole weight is less than 40g, and can be used together with a head coil by light equipment. The driving part is fixed far away from the moving part and fixed on a specific bed body support platform, so that the operation is firm and convenient. At the same time, the method also ensures that the image is not in the MR scanning area and the image quality is not affected.

Example 2

Referring to fig. 2A to 2C, fig. 4A to 4D, and fig. 5, another embodiment 2 of the present invention is different from embodiment 1 in that, in order to make the movement of the rotating movement assembly 3 smoother and more accurate, embodiment 2 further optimizes the design of the optical fiber catheter fixing portion 5.

The linear driven motion part 23 is provided with a perforation 230, a collar 231 is arranged around the perforation 230, and the optical fiber catheter fixing part 5 is movably arranged in the collar 231. Preferably, the diameter of the collar 231 is larger than the diameter of the through hole 230, and the diameter of the collar 231 is slightly larger than the diameter of the optical fiber conduit fixing portion 5, so as to realize the rotation movement of the optical fiber conduit fixing portion 5 in the collar 231. In a further preferred embodiment of the present invention, the optical fiber conduit fixing portion 5 is a stepped cavity structure with one side open, and the cavity structure includes a first cavity 511 and a second cavity 512. The first concave cavity 511 and the second concave cavity 512 are both cylindrical concave cavity structures, and are coaxially arranged, mutually adjacent and communicated, and the diameter of the first concave cavity 511 is larger than that of the second concave cavity 512. Further, the diameter of the first concave cavity 511 is matched with the diameter of the collar 231, and more preferably, the diameter of the first concave cavity 511 is smaller than the diameter of the collar 231. The diameter of the second cavity 512 is matched with that of the through hole 230, the second cavity 512 may pass through or partially pass through the through hole 230, and the plane of the first cavity 511 abuts against the linear driven moving part 23 at the edge of the through hole 230, so as to ensure the stability of the optical fiber catheter fixing part 5 during linear and/or rotary movement.

Referring to fig. 6, a positioning groove 514 is formed on the bottom surface of the second cavity 512, and the positioning groove 514 is disposed coaxially with the first cavity 511 and the second cavity 512. Preferably, the positioning groove 514 includes a circular groove 5141 and a positioning rib matching groove 5142, and a plurality of positioning rib matching grooves 5142 are uniformly provided on the outer circumference of the circular groove 5141. Preferably, the two positioning rib engaging grooves 5142 are symmetrically arranged on the periphery of the circular groove 5141. Alternatively, the number of the positioning rib engaging grooves 5142 may be three or more, and they are equally spaced from each other on the outer circumference of the circular groove 5141.

The optical fiber guide tube 4 comprises an optical fiber fixing portion 41 and an optical fiber 42, wherein a positioning rib 410 is arranged at one end, abutted to the optical fiber guide tube fixing portion 5, of the optical fiber fixing portion 41, and the positioning rib 410 is matched with the positioning rib matching groove 5142. When in use, the optical fiber 42 of the optical fiber conduit 4 and the positioning rib 410 respectively pass through the circular groove 5141 and the positioning rib matching groove 5142 until the optical fiber fixing portion 41 abuts against the bottom surface of the second cavity 512, and then the arc protruding portion 4101 at the end of the positioning rib 410 is clamped and fixed on the edge of the positioning rib matching groove 5142, so as to realize the relative fixation of the optical fiber conduit 4 and the optical fiber conduit fixing portion 5. The invention realizes the relative static relation between the optical fiber conduit 4 and the optical fiber conduit fixing part 5 by the cooperation of the positioning rib 410 and the positioning rib cooperation groove 5142, thereby realizing the rotary movement of the optical fiber conduit. Of course, other connection modes, such as adhesion, fastening connection, interference fit, threaded connection, etc., may be adopted between the optical fiber catheter 4 and the optical fiber catheter fixing portion 5, for example, an internal thread is disposed inside the optical fiber catheter fixing portion 5, an external thread is disposed on the periphery of the optical fiber fixing portion 41 of the optical fiber catheter 4, and the two may be fixedly connected by screwing the internal thread and the external thread. The above connection methods are all in the prior art, and are not described herein.

Further, an annular groove 5120 is provided on the bottom surface of the optical fiber guide tube fixing portion 5 abutting against the plane of the first cavity 511 of the linear driven moving portion 23, an annular ruler 53 is provided in the annular groove 5120, and a rotation position sensor 54 is provided on the other end surface (the end surface close to the fixing portion 6) of the linear driven moving portion 23.

The invention detects and feeds back the rotary motion condition of the rotary motion assembly 3 in real time through the annular ruler tape 53 and the rotary position sensor 54, so that an operator can carry out a next motion operation instruction on the optical fiber catheter 4 according to the fed back rotary motion condition.

Further, a linear position sensor 25 and a straight blade 26 are provided on one side of the frame 1. The invention feeds back the linear motion condition of the linear motion assembly 2 in real time by the linear position sensor 25 and the ruler tape 26, so that an operator can carry out a next motion operation instruction on the optical fiber catheter 4 according to the fed-back linear motion condition.

The circular tape 53, the rotational position sensor 54, the linear position sensor 25, and the linear tape 26 are all of the prior art, and will not be described again.

Example 3

Further, as shown in fig. 6A-6C, the optical fiber catheter fixing 5 is disposed inside the collar 231, the optical fiber catheter fixing 5 includes an optical fiber catheter fixing member 51 and an optical fiber catheter fixing member 52, the optical fiber catheter fixing member 51 is detachably connected with the optical fiber catheter fixing member 52, and the optical fiber catheter fixing member 51 is fixedly disposed inside the collar 231.

Specifically, the fiber optic catheter holder 51 is a stepped cavity structure including a first cavity 511 and a second cavity 512. The first concave cavity 511 and the second concave cavity 512 are both cylindrical concave cavity structures, and are coaxially arranged, mutually adjacent and communicated, the diameter of the first concave cavity 511 is larger than that of the second concave cavity 512, and a right-angle boss 513 is formed at the adjacent position of the first concave cavity 511 and the second concave cavity.

Further, a positioning groove 514 is formed at an end of the optical fiber catheter holder 51 near the second cavity 512, and is disposed coaxially with the first cavity 511 and the second cavity 512. The positioning groove 514 includes a circular groove 5141 and a positioning rib matching groove 5142, and a plurality of positioning rib matching grooves 5142 are uniformly arranged on the periphery of the circular groove 5141. Preferably, the two positioning rib engaging grooves 5142 are symmetrically arranged on the periphery of the circular groove 5141. Alternatively, the number of the positioning rib engaging grooves 5142 may be three or more, and they are equally spaced from each other on the outer circumference of the circular groove 5141.

Specifically, the optical fiber catheter fixing member 52 includes a clamping inner block 521 and a clamping outer block 522, the clamping outer block 522 is a hollow tube body, a groove is provided in the tube body, an internal thread is provided on an inner wall of the groove, the clamping inner block 521 is a hollow tube column, one end of the clamping inner block 521, which is matched with the clamping outer block 522, is a bifurcation end 5211, the bifurcation end 5211 is provided with a plurality of bifurcation, a plurality of bifurcation are uniformly distributed, each bifurcation end is provided with a convex portion 5212, the convex portion 5212 is a circular arc elastic component with a cavity at one end, the opening faces the center of the tube column, and the space size of the cavity is reduced along with the increase of the compression force around the convex portion 5212, so as to realize the tight fitting of the bifurcation and the optical fiber catheter 4. The outer wall of the protruding portion 5212 is provided with an external thread, the external thread is in screw fit connection with the internal thread, the bifurcation of the bifurcation end 5211 can be gradually gathered together along with the screw locking of the clamping outer block 522, and the fastening effect on the optical fiber catheter 4 is achieved through the dual functions of close fitting of the protruding portion 5212 and the optical fiber catheter 4 and polymerization gathering of the bifurcation end 5211.

Further, the outer diameter of the outer snap-fit block 522 is the same as the inner diameter of the first concave cavity 511, and the two are detachably connected in a matching manner. The one end of block 522 body is provided with round hole 5221 for place the optic fibre pipe, the periphery symmetry of round hole 5221 on the block 522 is equipped with location muscle 5222 even, and this location muscle 5222 can be two, also can be three or more, location muscle 5222's terminal outer loop week is provided with the arc portion 5223, and a plurality of the external diameter of the ring that location muscle 5222 constitutes equals the diameter of location muscle cooperation groove 5142, the diameter of arc portion 5223 is greater than the diameter of location muscle cooperation groove 5142.

When the optical fiber guide tube 4 is put into the tubular column of the clamping inner block 521, the optical fiber guide tube 4 can move freely in the state that the bifurcation end 5211 of the clamping inner block is not fastened, the clamping outer block 522 is connected with the clamping inner block 521 in a spiral manner during fixing, the bifurcation end 5211 of the clamping inner block 521 enables the inner wall of the convex part 5212 to be tightly attached to the optical fiber guide tube 4 through the spiral fastening force of the clamping outer block 522, and meanwhile, the plurality of bifurcation parts are gathered, so that the optical fiber guide tube 4 can be firmly clamped in the optical fiber guide tube fixing piece 52. Then, one end of the positioning rib 5222 of the optical fiber catheter fixing member 52 passes through the positioning groove 514 of the optical fiber catheter fixing member 51, the arc protrusion 5223 preferentially passes through the positioning rib matching groove 5142, and since the diameter of the arc protrusion 5223 is larger than that of the positioning rib matching groove 5142, the arc protrusion 5223 can be clamped on the outer wall of the positioning rib matching groove 5142, at this time, the pipe body of the clamping outer block 522 is just in clamping fit connection with the first concave cavity 511, so that the tail end of the protrusion 5212 of the clamping outer block 522 just contacts with the right-angle boss 513 to clamp the optical fiber catheter fixing member 52 and the optical fiber catheter fixing member 51 in the first concave cavity 512, and thus the situation that sliding or shifting occurs is avoided, and the optical fiber catheter 4 can be fixed in the sliding optical fiber catheter fixing member 51, the situation that sliding or shifting occurs is avoided, and the accuracy of the movement of the optical fiber catheter 4 in operation is increased.

Further, a fine adjustment assembly 34 is disposed at an end of the inner block 521 away from the outer block 522, and the fine adjustment assembly 34 includes a fine adjustment clamping portion 341 and a fine adjustment fixing portion 342, and the fine adjustment clamping portion is disposed near an end of the inner block 521. The fine adjustment clamping part 341 includes an inner clamp and an outer clamp, and is used for clamping the inner clamping block 521, so as to clamp and fix the optical fiber conduit 4 in the inner clamping block 521. The outer wall both ends of interior anchor clamps all are provided with the external screw thread, outer anchor clamps inner wall is provided with the internal screw thread, through threaded connection between the two, and still be provided with anti-skidding rubber ring between the two for thereby increase frictional force between interior anchor clamps and the outer anchor clamps further reaches the fastening effect. The fine adjustment fixing portion 342 includes an inner fixing member and an outer fixing member, the inner wall of the outer fixing member is provided with an inner wall thread, and is in screw connection with the outer thread at the other end of the inner clamp, the inner fixing member is disposed between the outer fixing member and the inner clamp, and the inner wall thereof is provided with a saw tooth protrusion for preventing slipping while clamping the optical fiber conduit 4 more tightly.

Example 4

Referring to fig. 8A to 8C and fig. 9A to 9C, the auxiliary movement device further includes a driving assembly disposed away from the movement assembly. The drive assembly comprises a first drive means 8 connected to the linear transmission wire 21 and a second drive means 9 connected to the rotary transmission wire 31. The first driving device 8 is used for driving the linear motion assembly 2 to perform linear motion, the linear motion assembly 2 can drive the rotary motion assembly 3 to perform linear motion together, the second driving device 9 is used for driving the rotary motion assembly 3 to perform rotary motion, and the rotary motion assembly 3 can drive the optical fiber guide tube 4 to perform rotary motion.

In implementation, the optical fiber guide tube 4 in the frame 1 is driven by the second driving device 9 to perform rotary motion through the rotary motion assembly 3, and the linear motion assembly 2 is driven by the first driving device 8 to simultaneously drive the rotary motion assembly 3 arranged on the linear motion assembly 2 to perform synchronous linear motion, so that the rotary motion assembly 3 and the linear motion assembly 2 achieve the synchronism of linear motion, and further, the optical fiber guide tube 4 can perform linear motion and rotary motion simultaneously.

As shown in fig. 10B, in still another preferred embodiment of the present invention, the driving assembly includes a driving motor, a first driving wheel 80 and a second driving wheel 90, the first driving wheel 80 and the second driving wheel 90 being driven by the driving motor, a switching device being provided inside the driving motor, by which a rotational force of the motor can be distributed to the first driving wheel 80 or the second driving wheel 90, respectively, to thereby achieve a motion output of the linear motion assembly 2 and the rotary motion assembly 3. The drive means and the force switching means are of prior art and are not described here.

Referring to fig. 8A to 8C and fig. 9A to 9C again, the present invention provides a driving assembly capable of realizing dual driving sources, which can realize both full automatic control and manual control. The driving assembly comprises a manual driving part and a full-automatic driving part, and the manual driving part is detachably connected with the full-automatic driving part. When full-automatic circuit control is required, the ends of the linear transmission wire 21 and the rotary transmission wire 31, which are far away from the frame 1, may be directly connected to the full-automatic driving part, respectively. When manual adjustment is needed, the ends of the linear transmission wire 21 and the rotary transmission wire 31, which are far away from the frame 1, are respectively and directly connected with the manual driving part. The following description will illustrate the design concept of the driving assembly in a preferred embodiment of the present invention, and embodiment 4 of the present invention is merely illustrative, not limiting, and therefore, all the inventions within the design concept of the present invention are within the protection scope of the present invention.

As shown in fig. 8A to 8C and fig. 9A to 9C, the driving assembly of the present invention includes a first housing 100 and a second housing 200, and the first housing 100 and the second housing 200 are movably connected. The first housing 100 is provided therein with a first manual adjustment portion 100A and a second manual adjustment portion 100B, and the second housing 200 is provided therein with a first driving device 8 and a second driving device 9. Further, the linear transmission wire 21 is detachably connected with the first manual adjusting portion 100A and the first driving device 8 in sequence, and the rotary transmission wire 31 is detachably connected with the second manual adjusting portion 100B and the second driving device 9 in sequence. At this time, the first driving device 8 and the second driving device 9 are driven to further drive the first manual adjustment portion 100A and the second manual adjustment portion 100B to move together, so as to realize full-automatic control of the linear and/or rotational movement of the movement assembly.

Further, the first rotation shaft 101 of the first manual adjustment portion 100A and the driving shaft of the first driving device 8 may be disconnected by a connection sleeve, and the second rotation shaft 103 of the second manual adjustment portion 100B and the driving shaft of the second driving device 9 may be disconnected by a connection sleeve, so as to implement manual control of the motion assembly only by manually adjusting the first manual adjustment portion 100A and the second manual adjustment portion 100B.

The first shell 100 is provided with a containing cavity a and a containing cavity B, the containing cavity a and the containing cavity B are arranged side by side and vertically, a partition plate is arranged between the containing cavity a and the containing cavity B, two connecting shaft sleeve penetrating holes are formed in the partition plate and used for containing the penetrating connecting shaft sleeves, and the first manual adjusting part 100A and the second manual adjusting part 100B are arranged in the containing cavity a. The first manual adjusting part 100A comprises a first rotating shaft 101 and a first rotating wheel 102, the first rotating shaft 101 is fixedly connected with the first rotating wheel 102, a groove for winding a silk thread is formed in the first rotating wheel 102, the second manual adjusting part 100B comprises a second rotating shaft 103 and a second rotating shaft 104, the second rotating shaft 103 is fixedly connected with the second rotating shaft 104, and a groove for winding the silk thread is formed in the second rotating wheel 104. The second housing 200 is movably connected in the accommodating cavity b. The first driving device 8 and the second driving device 9 are disposed in the second housing 200. The first drive means 8 and the second drive means 9 may preferably be ultrasonic motors. The driving shaft of the first driving device 8 is detachably connected with the first rotating shaft 101, and the second driving device 9 is detachably connected with the second rotating shaft 103.

The two side walls of the first housing 100 perpendicular to the partition board are respectively provided with a sliding groove 10a, and the two side walls of the second housing 200 perpendicular to the partition board are respectively provided with a sliding part 20a matched with the sliding grooves 10 a. Preferably, the sliding portion 20a protrudes from the second housing 200, and when the sliding groove 10a is slidably connected to the sliding portion 20a, an outer surface of the sliding portion 20a is flush with an outer surface of the first housing 100. The sliding portion 20a can correspondingly perform sliding movement in the sliding groove 10 a. Further, in order to better fix the relative positions of the first housing 100 and the second housing 200, the sliding portion 20a is further screwed with a fixing member 20b, the end face of the fixing member 20b is larger than the slot of the sliding slot 10a, and when the second housing 200 slides relatively to the desired position of the first housing 100, the fixing member 20b is screwed to make the end face of the fixing member 20b abut against the first housing 100, so as to realize the fixed connection between the first housing 100 and the second housing 200. Further, the driving assembly further includes a third housing 300, and the third housing 300 is covered on the upper parts of the first housing 100 and the second housing 200 to realize sealing and supporting. Further, the third housing 300 is further provided with a first opening 300A and a second opening 300B. A portion of the first rotating shaft 101 is exposed out of the first opening 300A, and a portion of the second rotating shaft 103 is exposed out of the second opening 300B. A marking ruler 300C is further arranged near the first opening 300A and the second opening 300B, so that the motion precision of manual adjustment is more controllable. The housing of the driving assembly according to the present invention may have various structures, and will not be described herein. Further, in order to facilitate manual adjustment, the first rotating shaft 101 and the second rotating shaft 103 are further respectively screwed with a holding portion 1011.

Referring to fig. 7 again, in order to prevent the transmission wire from slipping during operation, a groove 1021 for winding the wire is provided on the first rotating wheel 102, and two guiding protrusions 1021a are provided on the groove 1021 at intervals. Preferably, the linear driving wire 21 bypasses the guiding protrusion 1021a in a zigzag manner, and similarly, the second rotating wheel 104 is also provided with the groove 1021 and the guiding protrusion 1021a, and the rotary driving wire 31 bypasses the guiding protrusion 1021a in a zigzag manner. The guide projection 1021a has the functions of preventing slipping and fixing and limiting.

Further, as shown in fig. 8C, in order to prevent the first rotating shaft 101 and the second rotating shaft 103 from reversing reversely during manual adjustment, damping structures, such as a rotary damper 101a, may be further added to the first rotating shaft 101 and the second rotating shaft 103, and the rotary damper 101a is disposed on the first rotating shaft 101 and the second rotating shaft 103, and meanwhile, the motion accuracy of manual adjustment is increased by cooperating with a position sensor. Of course, the driving assembly of the present invention is further provided with an electrical connection port and a processor, both of which are in the prior art, and are not described in detail again.

Example 5

Referring to fig. 10A, 10B, 11A and 11B, a driving system of a wire auxiliary movement device includes a remote control system 10 and a robot matched with the auxiliary movement device according to embodiments 1 to 4, wherein the robot includes a communication module, a processing module and an auxiliary movement device, and the auxiliary movement device is a wire auxiliary movement device according to embodiments 1 to 4.

The remote control system 10 comprises a control module for displaying an intraoperative magnetic resonance image, wherein the image comprises an ablation condition and azimuth information of the optical fiber catheter 4, wherein the azimuth information comprises at least one of an insertion depth of the optical fiber catheter 4, an insertion direction of the optical fiber catheter 4 and a rotation angle of the optical fiber catheter 4, and the control module is further used for generating a control command and sending the control command to the robot, wherein the control command is generated after the optical fiber catheter 4 is judged to be required to be adjusted according to the ablation condition and the azimuth information. The robot comprises a communication module, a processing module and an auxiliary movement device, wherein the communication module is used for communicating with the control module, receiving the control command from the control module, the control command carries parameters for adjusting the optical fiber guide tube 4, the parameters at least comprise azimuth information to be adjusted of the optical fiber guide tube 4, the azimuth information to be adjusted comprises at least one of insertion depth, insertion direction and rotation angle, the processing module is used for converting the parameters carried in the control command into movement information of a robot arm and sending the movement information to the auxiliary movement device, and the auxiliary movement device is used for moving according to the movement information, wherein the movement drives the optical fiber guide tube 4 to move according to the parameters, and the movement information comprises at least one of movement speed, movement direction and rotation angle.

As shown in fig. 10A and 10B, the control module may be located in a host computer, which may be a host computer in a laser ablation device, that is typically placed outside the magnetic resonance chamber when performing an ablation procedure. The functions of the control module and the robot are described below.

The control module is used for displaying an intraoperative magnetic resonance image, wherein the image comprises ablation conditions and position information of the optical fiber catheter 4, and the position information can comprise at least one of the insertion depth of the optical fiber catheter 4, the insertion direction of the optical fiber catheter 4, the rotation angle of the optical fiber catheter 4 and the like. In the ablation process, the position of the optical fiber catheter 4 can be determined to be required to be adjusted at any time according to the ablation condition and the position information of the optical fiber catheter 4. Based on the above, the control module is further configured to generate a control command and send the control command to the robot, where the control command is generated after the optical fiber catheter 4 is determined to be required to be adjusted according to the ablation condition and the azimuth information.

In an alternative embodiment, the control module may implement a remote control function for the robot, and thus the remote control system may be understood as a part of the control module, and the remote control system may further comprise a control system of hardware, for example, the robot may be controlled by a device such as a remote control.

In the mechanism shown in fig. 10A and 10B, the auxiliary movement means may comprise a drive assembly and a movement assembly responsible for bringing about a linear and/or rotational movement of the optical fiber conduit 4. The motion assembly may also be provided with an absolute position sensor for closed loop determination of the specific position of the fiber optic catheter. The motion mechanism is required to be small and light, can be used in skull nails and head coils, and does not influence the quality of MR scanning images.

The driving component is used for providing power for the moving component, and the part can be integrated with the moving component or separated from the moving component. Further, preferably, the drive assembly is separated from the magnetic resonance main body or the MR scanning chamber, and then torque transmission of the drive assembly and the MR scanning chamber is completed through a power transmission structure. In the invention, the driving source control of the driving assembly can be manual control or full-automatic control, and the motion accuracy of the motion assembly is ensured due to the existence of the position sensor and the marking ruler. Further, the position sensor may be directly connected to the driving component via an electrical connection line, or may be directly connected to the control system.

In fig. 10B, the distance of the displacement of the motion component can be determined according to the information obtained from the MRI structural image, so as to further double calibrate the real situation of the motion, and avoid accidents under special situations.

By this embodiment, an auxiliary robot is introduced for operating the adjustment of the fiber optic catheter 4 during ablation, which auxiliary robot is arranged beside the patient, the operation of the auxiliary movement means can be controlled according to pre-positioning information. The optical fiber catheter 4 can be adjusted by the aid of the auxiliary robot, full-automatic control can be achieved, manual adjustment can be achieved, the adjusting efficiency and accuracy of the optical fiber catheter 4 are improved, and further the operation can achieve a better effect.

The control module may be further configured to perform a pre-operative ablation planning, and generate an ablation strategy after the pre-operative ablation planning, where the ablation strategy includes at least one ablation stage, each stage is configured with an expected ablation result corresponding to the stage, light emitting information of the optical fiber catheter 4, and azimuth information of the optical fiber catheter 4, and the ablation stages in the ablation strategy are performed according to a configuration sequence in the ablation strategy. In the ablation process, there may be a plurality of ablation stages according to a pre-generated ablation strategy, for example, for an irregularly shaped tumor, a plurality of ablation stages need to be formulated according to the shape of the tumor, each ablation stage is used for ablating a part of the tumor, after one stage is completed, the position of the optical fiber catheter 4 needs to be adjusted for the ablation of the next stage, at this time, in this embodiment, the robot can be controlled by the control module to adjust the optical fiber catheter 4. In this alternative embodiment, the control module is configured to obtain an expected ablation result corresponding to the current ablation stage, determine, according to MRI image information, whether the current ablation result matches the expected ablation result, enter a next ablation stage in a pre-generated ablation policy, obtain adjustment information about whether adjustment needs to be performed on the optical fiber catheter 4 in the next ablation stage, and then generate a control command according to the adjustment information.

There are various ways of judging whether the ablation result accords with the expected ablation result, for example, three-dimensional virtual modeling can be performed on the estimated ablation region, an approximate ablation region can be fitted, registration of preoperative structural phases (or other multi-mode images) and images of the same sequence after operation can be achieved, a contrast difference method is used for highlighting the changed region, or a three-dimensional rapid sketching method is used for reconstructing the postoperative ablation region, the postoperative ablation region is compared with the pre-operative estimated ablation region, if the calculated ablation percentage is more than 110%, the excessive ablation is considered, and if the calculated ablation percentage is less than 90%, the insufficient ablation is considered, and meanwhile, the overlapping range of the estimated ablation region and the range outside the estimated ablation region need to be considered. If the percentage is between 90% and 110%, the ablation result is considered to be the same as the intended ablation result.

In another alternative embodiment, the ablation may also be monitored in real time during the ablation of a stage. There are a number of ways to monitor the ablation process in real time, and an alternative implementation is provided in this example. In the alternative implementation mode, the monitoring module performs three-dimensional sketching on the ablation area and the peripheral area, and adds corresponding material attributes, stores a tissue material attribute list, and if two or more tissues exist in the ablation area, fine segmentation is needed to enable ablation parameters to change at the tissue juncture, if tumors exist in the ablation area, the areas except the tumors default to the same tissue, or sketching is performed respectively, the pre-operation ablation pre-estimation control module is used for pre-estimation, and corresponding ablation parameters are obtained, wherein the ablation parameters comprise cooling rate, laser power and light emitting time.

Inserting an ablation probe into a corresponding position, setting a field of view (FOV) of magnetic resonance scanning, automatically identifying and judging the size of each pixel point by a monitoring module, and calculating by using each pixel point as an ablation unit.

In non-invasive thermometry using magnetic resonance, ablation prediction is performed using arrhenius equations and/or CEM43 models in combination with pre-operative segmentation and assignment of the intended ablation zone, i.e., ablation parameters and material properties.

Different cells are marked with different colors in different ablation stages, when an Arrhenius equation is used, different ablation thresholds are selected to be turned on to display that the large cell damage value is 63.2% when the chemical reaction rate coefficient omega=1 is assumed, the cell damage value is light yellow in the range, and the cell damage value is approximately 99% when the chemical reaction rate coefficient omega=4.6 is assumed, and the cell damage value is orange in the range, so that the cell ablation is complete in the range. If the ablation is not performed to reach the specified percentage in other interested areas, but the temperature exceeds 43 ℃, the areas are displayed green, meanwhile, a CEM43 model is also used, different colors are used for displaying under different equivalent ablation time periods, for example, sectional display is performed under different conditions of 2 minutes equivalent, 10 minutes equivalent and 60 minutes equivalent respectively, the doctor can better judge the ablation effect through sectional ablation display, when the ablation area is displayed, the ablation area is semitransparent, and after the tissue structure phase is displayed in a superimposed mode, the ablation range and which area are ablated can be seen at the same time.

When the situation that the direction adjustment of the optical fiber catheter 4 needs to be adjusted is monitored in real time, a pause command can be sent through the control module, wherein the pause command is used for indicating the optical fiber catheter 4 to pause ablation, and after the pause command is received, the control module receives adjustment information input by a user to generate a control command, wherein the adjustment information is used for adjusting the current direction of the optical fiber catheter 4.

For example, a direction control device may be further disposed on the host machine, where the direction control device may be a handle (or may also be a plurality of handles, where the plurality of handles include a handle for controlling lifting and lowering, a handle for controlling rotation, a handle for controlling movement in a plane, etc.), and the user may control movement of the auxiliary movement device by operating the handle, where the control module may obtain displacement of the handle, and convert the displacement into a control command for controlling movement of the auxiliary movement device, and send the control command to the robot.

In an alternative embodiment, the pause command is issued by the user of the control module (e.g., the user determines via the image information displayed by the host computer that an adjustment of the orientation of the fiber optic catheter 4 is required), and/or the pause command may be issued by the control module in response to a pre-configured alarm condition indicating a risk condition during surgery, e.g., if the actual ablation area is greater than the predicted ablation area, prompting whether ablation is stopped, e.g., if the ablation coverage area exceeds 110% the monitoring module will cut off the energy output, and may further include, e.g., exceeding the maximum depth of the fiber optic catheter 4, exceeding the planned ablation boundary, exceeding a safe temperature threshold, etc.

If there are a plurality of different focus portions of a patient, there may be a situation that a plurality of optical fiber catheters 4 are used for ablation, as an alternative implementation manner, the control module may further display the ablation situation of the plurality of optical fiber catheters 4 in the system, identify the optical fiber catheter 4 to be adjusted in the plurality of optical fiber catheters 4, and generate a control command for the optical fiber catheter 4 to be adjusted, where the control command carries identification information of the optical fiber catheter 4 to be adjusted, and the identification information is used for indicating the auxiliary movement device to adjust the orientation of the optical fiber catheter 4 corresponding to the identification information.

The different phases of the ablation strategy and whether to use multiple fiber optic catheters 4 can be accomplished by pre-operative planning, where there is an important part in the planning of the path of the fiber optic catheters 4. After planning the path, the insertion of the optical fiber catheter 4 may be performed by the doctor according to the pre-planned path, or may be performed by controlling the robot through the control module. For example, the control module is also used for planning a path of the optical fiber catheter 4 reaching the focus part through human tissue before operation, wherein the path is the path of the human tissue, and the robot is also used for controlling the optical fiber catheter 4 to reach the focus part along the path.

The motion information of the robot can be calculated through a control module or can be calculated through the robot, namely the control module is used for calculating the motion information of an auxiliary motion device of the robot according to the path and sending the motion information to the robot, or the control module is used for sending the path to the robot, the robot is used for calculating the motion information according to the path, and the robot is used for controlling the auxiliary motion device to drive the optical fiber catheter 4 to reach the focus part along the path according to the motion information obtained by the path calculation. As an optional implementation manner, the control module is further configured to monitor whether the robot drives the optical fiber catheter 4 to move according to the path information, and send an adjustment command when the robot deviates from the path, where the adjustment command is used to adjust the movement information of the auxiliary movement device of the robot, and the robot is further configured to adjust the movement according to the adjustment command.

There are various ways to obtain whether the motion of the optical fiber catheter 4 conforms to the path, for example, the control module may monitor whether the motion of the optical fiber catheter 4 conforms to the path through the information of the magnetic resonance image and/or the data fed back by the sensor arranged on the auxiliary motion device, wherein the sensor arranged on the auxiliary motion device may comprise at least one of a motion sensor and a displacement sensor.

As an alternative, in all the adjustments of the optical fiber catheter 4 in the above embodiments, the processing module of the robot is further configured to obtain the motion state of the auxiliary motion device when the auxiliary motion device moves under the control of the motion information, and send the motion state to the control module through the communication module. The control module can also judge whether the motion of the optical fiber conduit 4 accords with the expected motion according to the motion of the optical fiber conduit 4 driven by the auxiliary motion device and the received motion state. This way, better security can be provided.

The robot in the above embodiment may be sold separately or used, and if it is matched with a control module of another third party manufacturer, the robot provides an interface, and the interface is used for definitely controlling the mode and parameters of the robot, and the communication mode between the third party control module and the robot. The parameters of the feedback of the robot are also defined by the interface. The adaptation of the robot can be increased, and the robot can be added to serve as an auxiliary control function under the condition that a user has purchased a third-party control module.

In the above system or the above separately sold robot, a remote interactive module may be further added to control the robot in the magnetic resonance room, for example, the control includes at least one of calibrating the robot, controlling the robot to move, controlling the robot to puncture, controlling the robot to stop emergently, and controlling the auxiliary movement device of the robot.

Example 6

A control method of a driving system of an auxiliary movement device of embodiment 4. The driving system is divided into manual driving and full-automatic driving.

Manual driving:

As shown in fig. 6A and 6B, the present invention provides a driving assembly capable of realizing dual driving sources, which can realize both full automatic control and manual control. The driving assembly comprises a manual driving part and a full-automatic driving part, and the manual driving part is detachably connected with the full-automatic driving part.

When manual adjustment is needed, the connecting ends of the linear transmission wire 21 and the rotary transmission wire 31 are respectively and directly connected with the manual driving part. And the manual driving part is separated from the full-automatic driving part, and the manual driving part and the full-automatic driving part are not mutually associated. Furthermore, the electrical connection wire of the position sensor on the motion assembly is still connected to the processor of the driving assembly, so that accurate feedback under manual adjustment is realized. At this time, the first manual adjusting part 100A and the second manual adjusting part 100B can be manually adjusted to realize manual control of the motion assembly, and the marking ruler of the manual driving part can accurately and intuitively display the motion condition.

Full-automatic driving:

When full-automatic circuit control is required, the connection ends of the linear driving wire 21 and the rotary driving wire 31 may be directly connected to the full-automatic driving part, respectively. The linear transmission wire 21 may be connected to the first manual adjustment unit 100A and the first driving device 8 in this order, and the rotary transmission wire 31 may be connected to the second manual adjustment unit 100B and the second driving device 9 in this order. The first driving device 8, the second driving device 9 and the processor are electrically connected, and the processor is connected with the remote control system to realize full-automatic control of linear and/or rotary motion of the motion assembly.

The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.

Claims

1. A silk thread auxiliary movement device is characterized in that, the yarn auxiliary movement device comprises:

the device comprises a frame (1), wherein a linear motion assembly (2) is arranged on the frame, and the linear motion assembly (2) is in sliding connection with the frame (1), wherein the linear motion assembly (2) comprises a circular neck (231);

The rotary motion assembly (3), the rotary motion assembly (3) comprises an optical fiber catheter fixing part (5), and the optical fiber catheter fixing part (5) is movably arranged in the annular neck (231);

The linear motion assembly further comprises a linear driving motion part (22) and a linear driven motion part (23), wherein the linear driving motion part (22) and the linear driven motion part (23) are arranged on the same vertical plane, and the linear driving motion part (22) is positioned below the linear driven motion part (23);

A perforation (230) is formed on the linear driven movement part (23), the annular neck (231) is arranged around the perforation (230), and the optical fiber catheter fixing part (5) is movably arranged in the annular neck (231);

The diameter of the annular neck (231) is larger than that of the perforation (230), and the diameter of the annular neck (231) is matched with that of the optical fiber catheter fixing part (5) so as to realize the rotation movement of the optical fiber catheter fixing part (5) in the annular neck (231);

The annular neck (231) is a non-closed ring, and a notch (2310) is formed in the lower part of the annular neck (231);

The optical fiber guide tube comprises a driving assembly, a fiber guide tube and a driving assembly, wherein the driving assembly comprises a linear transmission wire (21) and a rotary transmission wire (31) which are wound on the driving assembly, the linear transmission wire (21) is wound on the linear movement assembly (2), the rotary transmission wire (31) is wound on the rotary movement assembly (3), the linear transmission wire (21) is used for driving the linear movement assembly (2) to perform linear movement, the linear movement assembly (2) can drive the rotary movement assembly (3) to perform linear movement, the rotary transmission wire (31) is used for driving the rotary movement assembly (3) to perform rotary movement, the rotary movement assembly (3) can drive the optical fiber guide tube (4) to perform rotary movement, and the driving force of the driving assembly is from manual driving control or full-automatic driving control;

A guide wheel (32) is movably arranged at a notch (2310) of the annular neck (231), and the guide wheel (32) is a reducing cylinder;

One end of the rotary transmission wire (31) is wound and fixed on the optical fiber catheter fixing part (5), and the other end is wound on the driving assembly after passing through the guide wheel (32);

a circumferential groove (33) is formed in the optical fiber catheter fixing portion (5), at least one positioning column (332) is arranged on the circumferential groove (33), and the rotary transmission wire (31) is fixed on the positioning column (332).

2. The silk thread auxiliary movement device according to claim 1, wherein a third fixing through hole (221) and a third movable through hole (222) which are arranged in parallel are formed in the linear movement assembly (2), one side of the linear transmission silk (21) penetrates through and is fixed on the third fixing through hole (221), the other side of the linear transmission silk (21) penetrates through the third movable through hole (222), and the linear transmission silk (21) can freely move in the third movable through hole (222).

3. The yarn auxiliary movement device according to claim 1, wherein the driving assembly comprises a first manual adjustment part (100A) and a second manual adjustment part (100B), the first manual adjustment part (100A) comprises a first rotating shaft (101) and a first rotating wheel (102) which are fixedly connected, the first rotating wheel (102) is wound with the linear transmission yarn (21), the second manual adjustment part (100B) comprises a second rotating shaft (103) and a second rotating wheel (104) which are fixedly connected, and the second rotating wheel (104) is wound with the rotary transmission yarn (31);

The optical fiber guide tube device is characterized in that the first rotating shaft (101) is driven to drive the linear motion assembly (2) to conduct linear motion, the second rotating shaft (103) is driven to drive the rotary motion assembly (3) to conduct rotary motion, and the rotary motion assembly (3) can drive the optical fiber guide tube (4) to conduct rotary motion.

4. A yarn assisted movement device according to claim 3, characterised in that the drive assembly further comprises a first drive means (8) and a second drive means (9), the first drive means (8) being detachably connected to the first shaft (101) and the second drive means (9) being detachably connected to the second shaft (103).

5. A yarn auxiliary movement device as in claim 4, characterised in that the frame (1) comprises a guide part (7), a front cover (13) and a rear cover (12), the guide part (7) comprises a guide rail (71) arranged between the front cover (13) and the rear cover (12), the linear movement assembly (2) is provided with a guide rail guide groove (24), and the guide rail (71) is in sliding connection with the guide rail guide groove (24).

6. A wire assisted movement device according to any one of claims 1 to 4, wherein the movement assembly is provided with a position sensor.

7. A thread assisted movement device according to any one of claims 1 to 4, characterized in that the front cover (13) of the frame (1) is provided with a fixing portion (6), the fixing portion (6) is provided with an axially penetrating through hole (60), and the through hole (60) is fixedly connected with the skull nail.

8. A drive system for a wire assisted movement device according to any of claims 1-5, comprising a remote control system (10) and a robot, characterized in that the robot comprises a communication module, a processing module and the wire assisted movement device, the remote control system (10) being electrically connected to the robot for controlling the movement of a fiber optic catheter (4) in the wire assisted movement device.

9. A control method of a driving system of a yarn auxiliary movement device according to claim 8, characterized in that the driving assembly is driven directly manually or remotely and fully automatically to operate so as to drive the linear movement assembly (2) and the rotary movement assembly (3) to perform linear movement and/or rotary movement.