| 摘要 |
An automated system for delivery of seeds or other therapeutic or diagnostic capsules to internal organs of the patient's body for radiation brachytherapy includes a needling mechanism, a 2DOF robot, an ultrasound probe driver, a 5DOF passive platform, and an easy lock cart. The needling mechanism implants radioisotope seeds by its cannula and stylet driven by two moving stages pushed by DC motors with ball screw transmission. Force sensors are included for detecting insertion forces and bending force. In another embodiment, the needle is rotated for insertion into the patient and can also be used for tissue removal for biopsy. The two embodiments are usable together or separately. |
| 主权项 |
1. An automated system for delivery of therapeutic or diagnostic capsules to a required location of a patient's body, the system comprising:
a needling mechanism which includes a cannula, a stylet, a support component, driving stages for the cannula and stylet, and a driving and motion transmission mechanism for cannula translation movement, stylet translation movement, and cannula rotation, wherein the driving and transmission mechanism is configured to rotate the cannula during insertion of the cannula in the patient's body, and wherein the needling mechanism pushes the therapeutic or diagnostic capsules into the patient's body to the required location; a robot for supporting the needling mechanism and moving the needling mechanism along x and y directions to provide a puncture area in the patient's body to implement a cannula insertion and capsule delivery plan, the robot including a side board; a passive platform for initial positioning and posturing of the needling mechanism and the robot; and a manual take over structure including a shaft and a knob, the shaft connecting the support component of the needling mechanism to the side board of the robot, wherein when the knob is removed from the manual take over structure, the needling mechanism is manually operable. |
