Prostate particle implantation system based on collaborative robot and method thereof

Abstract

The invention relates to the field of prostate minimally invasive medical equipment, and discloses a prostate particle implantation system based on a collaborative robot and a method thereof, and thesystem comprises an industrial personal computer, an industrial personal computer I / O device, an ultrasonic probe module, an ultrasonic probe sensor, a particle implantation module, a particle implantation sensor, and a control cabinet. The industrial personal computer is used for receiving, processing, storing and sending a control instruction; the industrial personal computer I / O device providesan interaction channel for a doctor and the industrial personal computer; the control cabinet drives the motors of the execution ends to operate through a control bus according to the control instruction; the ultrasonic probe module provides a navigation function; the ultrasonic probe sensor is used for assisting the system in completing preoperative positioning initialization; the particle implantation module is used for completing specific particle implantation operation in an operation; and the particle implantation sensor is used for detecting the stress change of each joint of the collaborative robot. The system can reduce the labor intensity of doctors and the pressure of human resources, guarantees the operation effect, and guarantees the personal safety of patients and doctors through the sensor installed in the system.

Description

technical field [0001] The invention relates to the field of prostate minimally invasive medical equipment, in particular to a system and method for implanting prostate particles based on collaborative robots. Background technique [0002] According to relevant data from my country Cancer Center, the number of prostate cancer patients in my country has been increasing rapidly in recent years. Therefore, research on effective treatment of prostate cancer is facing increasing pressure. In addition to prostatectomy, prostate brachytherapy is another commonly used treatment method in current clinical treatment. During the operation, the doctor manually controls the radioactive seed implanter according to the real-time images obtained by the transrectal ultrasound probe , and implant radioactive particles into the patient's lesion target, and finally use radiation to kill cancer cells, so as to achieve the purpose of treating prostate cancer patients. However, during the operati...

AI Technical Summary

Problems solved by technology

However, this method will affect the flexibility of the surgical instrument, and the intelligence and control accuracy of the control system will also be limited by the choice of the motor drive device

In addition, in the prior art, there are special prostate seed implantation robots designed to assist doctors to complete the operation, but this method requires a lot of investment in the early stage to research and design robots, which has poor versatility and low economic benefits

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