CN109173088B - Longitudinal axis rotating mechanism for laser guide and control system - Google Patents
Longitudinal axis rotating mechanism for laser guide and control system Download PDFInfo
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- CN109173088B CN109173088B CN201811102008.3A CN201811102008A CN109173088B CN 109173088 B CN109173088 B CN 109173088B CN 201811102008 A CN201811102008 A CN 201811102008A CN 109173088 B CN109173088 B CN 109173088B
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- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
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Abstract
The invention belongs to the technical field of medical equipment, and discloses a longitudinal shaft rotating mechanism for laser guidance, which comprises a shaft sleeve, a rotating shaft arranged in the shaft sleeve and rotatably connected with the shaft sleeve, wherein one end in the length direction of the rotating shaft is connected with laser guidance puncture equipment, and a power generation device which is connected with one end of the rotating shaft, which is far away from the laser guidance puncture equipment, and is connected with a control system. The invention also discloses a control system for the laser-guided longitudinal shaft rotating mechanism, which comprises a power supply A, a PLC (programmable logic controller) connected with the power supply A, the braking device and the power generation device. The invention controls the rotation of the longitudinal shaft rotating mechanism by controlling the running and stopping of the power generating device through the computer, and has simple operation and accurate position. The braking device is connected with the power generation device and can timely brake the power generation device, so that the laser emission angle is more accurate.
Description
Technical Field
The invention belongs to the technical field of medical equipment mechanisms, particularly relates to a longitudinal axis rotating mechanism and a control system, and particularly relates to a longitudinal axis rotating mechanism and a control system for laser guidance.
Background
Chemotherapy and radiotherapy are two important methods for tumor treatment, the two methods are carried out simultaneously, a synergistic effect can be achieved, a good treatment effect is achieved, conventional external radiotherapy and whole-body chemotherapy have large side effects and great adverse reactions and are difficult to implement, radioactive particles and chemotherapy slow-release particles are implanted simultaneously in a minimally invasive mode, local radiotherapy and chemotherapy of tumors are achieved, and due to the fact that the radioactive dose and the concentration of chemotherapy drugs of a lesion part are large, and the radioactive dose and the concentration of chemotherapy drugs of other regions of the whole body are small, the effect is good and the adverse reaction is low. Through continuous test verification, the radioactive particles and the chemotherapy slow-release particles are implanted into the focus of a patient body at the same time and alternately, which is the simplest and most direct treatment method for treating tumors.
The radioactive particle implantation treatment technology is a treatment method for implanting a radioactive source into a tumor to destroy the tumor. The radioactive particles are implanted into the tumor body accurately by a stereotactic system, and the tumor tissue is killed to the maximum extent by emitting continuous and short-distance radioactive rays by a miniature radioactive source, while the normal tissue is not damaged or only slightly damaged. The key point for radioactive seed implantation is localization. Due to the complexity of human anatomy, surface irregularity, infiltration of various recurrent tumors, and irregular growth, the interpolation, depth, and angle of the implanted needle are affected to different degrees.
The existing radioactive particle implantation positioning mode is that a human body is scanned through a modern imaging technology and a computer-aided technology, then mathematical modeling is carried out through a computer to obtain a path and an angle of particle implantation, finally a data packet formed by the mathematical modeling is led into a printing device to print out a template through a 3D printing technology, hollow cylinders with different angles are arranged on the surface of the template, and an implantation needle enters the human body through the hollow cylinder positioning. The positioning method is accurate, but the area of the template printed by 3D is limited, and a hollow cylinder must be arranged on the template in order to control the angle of the implantation needle, so that the implantable particles are limited, when the tumor cannot completely cover the tumor compared with the radioactive ray range of radioactive particles, the tumor tissue cannot be completely eliminated, and the treatment is unsuccessful. The secondary operation is difficult, the patient suffers more pain, and the treatment time is delayed. The existing radioactive particle implantation method can not accurately read the depth of the implantation needle inserted into the human body, most of the methods depend on doctor experience judgment or judge by reading scales by marking corresponding scales on a needle tube of the implantation needle, the judgment method can not completely and accurately judge the depth of the implantation needle entering the human body, the error is large, the implantation position of the radioactive particles is not accurate, the radioactive particles at the same or very close positions are easily concentrated, and the radioactive particles or radioactive rays at some positions cannot be radiated to the corresponding positions, so that the treatment effect is seriously influenced.
The laser positioning technology scans a human body through a modern imaging technology and a computer-aided technology, then obtains the number and the position of the implanted particles through mathematical modeling by a computer, then the equipment sends out laser with different angles according to the result of the mathematical modeling, the needle point of the implantation needle is firstly aligned to a light spot formed on the skin of the human body by the laser, then the needle tail is aligned to a light beam, so that the laser forms the light spot at the center of the needle tail, and the position and the angle of the implantation needle penetrating into the human body are controlled, thereby achieving the purpose of accurate positioning. The laser positioning technology solves the problems of limited implantation range and inaccurate positioning of the particles due to limited templates in the prior art. The distance between the implanted needle and the human body is calculated through the time difference between the time of the device sent by the laser and the time of the received reflected light, a user can directly read data, when the implanted needle is close to a required position, the system can prompt, and voice prompt is realized after the implanted needle reaches the required position, so that the positioning is more accurate. After the human body is scanned and mathematical modeling is carried out through a computer to obtain the number and the positions of the implanted particles, the obtained data are sent to the laser guide puncture equipment in a data signal mode, and the laser guide puncture equipment sends lasers in different angles and different directions according to the received data, so that the implantation needle can accurately implant the radioactive particles into the human body under the guidance of the lasers. Therefore, the laser-guided puncturing device is required to be capable of adjusting the angle and direction of laser emission and the position of irradiation on a human body under the control of the control system and immediately stopping after the laser-guided puncturing device is adjusted to a required position, and the laser-guided puncturing device cannot move continuously due to inertia and generate deviation, so that the angle of laser emission is inaccurate, and the implantation of particles is inaccurate.
Disclosure of Invention
In order to solve the above problems in the prior art, the present invention aims to provide a longitudinal axis rotating mechanism and a control system for a laser-guided puncturing device, which are simple to operate, accurate in laser emitting angle, and capable of braking in time.
The technical scheme adopted by the invention is as follows:
a longitudinal axis rotating mechanism for laser guidance comprises a shaft sleeve, a rotating shaft and a power generating device, wherein the rotating shaft is arranged in the shaft sleeve and is rotatably connected with the shaft sleeve, one end of the rotating shaft in the length direction is connected with laser guidance puncture equipment, and the power generating device is connected with one end, far away from the laser guidance puncture equipment, of the rotating shaft and is connected with a control system.
The radioactive particle implantation treatment technology is a treatment method for implanting a radioactive source into a tumor to destroy the tumor. The radioactive particles are implanted into the tumor body accurately by a stereotactic system, and the tumor tissue is killed to the maximum extent by emitting continuous and short-distance radioactive rays by a miniature radioactive source, while the normal tissue is not damaged or only slightly damaged. The key point for radioactive seed implantation is localization. Due to the complexity of human anatomy, surface irregularity, infiltration of various recurrent tumors, and irregular growth, the interpolation, depth, and angle of the implanted needle are affected to different degrees.
The laser positioning technology scans a human body through a modern imaging technology and a computer-aided technology, then obtains the number and the position of the implanted particles through mathematical modeling by a computer, then the equipment sends out laser with different angles according to the result of the mathematical modeling, the needle point of the implantation needle is firstly aligned to a light spot formed on the skin of the human body by the laser, then the needle tail is aligned to a light beam, so that the laser forms the light spot at the center of the needle tail, and the position and the angle of the implantation needle penetrating into the human body are controlled, thereby achieving the purpose of accurate positioning. The laser positioning technology solves the problems of limited implantation range and inaccurate positioning of the particles due to limited templates in the prior art. The distance between the implanted needle and the human body is calculated through the time difference between the time of the device sent by the laser and the time of the received reflected light, a user can directly read data, when the implanted needle is close to a required position, the system can prompt, and voice prompt is realized after the implanted needle reaches the required position, so that the positioning is more accurate. After the human body is scanned and mathematical modeling is carried out through a computer to obtain the number and the positions of the implanted particles, the obtained data are sent to the laser guide puncture equipment in a data signal mode, and the laser guide puncture equipment sends lasers in different angles and different directions according to the received data, so that the implantation needle can accurately implant the radioactive particles into the human body under the guidance of the lasers. Therefore, the laser-guided puncturing device is required to be capable of adjusting the angle and direction of laser emission and the position of irradiation on a human body under the control of the control system and immediately stopping after the laser-guided puncturing device is adjusted to a required position, and the laser-guided puncturing device cannot move continuously due to inertia and generate deviation, so that the angle of laser emission is inaccurate, and the implantation of particles is inaccurate.
The longitudinal axis rotating mechanism of the invention is mainly used for laser guide puncture equipment, an arc device is arranged on the equipment, a transverse sliding mechanism is arranged on the arc device, one end of the transverse sliding mechanism, which is close to the ground, is provided with a laser emission device, the transverse sliding mechanism can slide along the arc-shaped edge of the arc-shaped device under the control of a system, thereby driving the laser emission device to slide along the arc-shaped edge, the transverse sliding mechanism is used for adjusting the angle of the laser emission device for emitting laser, the longitudinal axis rotating mechanism is connected with the arc-shaped device, which is used for driving the laser guide puncture device to rotate for a certain angle according to the received data signal, the angle, the direction and the position of the laser emission on the human body are determined by matching with the transverse sliding mechanism of the laser guide puncture device.
The shaft sleeve of the longitudinal shaft rotating mechanism is connected with a sliding mechanism of the laser-guided puncture device, the sliding mechanism drives the whole laser-guided puncture device to slide along the length direction of the sliding mechanism, and the sliding mechanism is used for adjusting the position of the laser-guided puncture device, so that the laser-guided puncture device is positioned right above a focus part of a human body. The laser guide puncture device is characterized in that a power generation device and a rotating shaft are arranged in the shaft sleeve, the rotating shaft is arranged at one end, far away from the braking device, of the power generation device in the length direction, and one end, far away from the power generation device, of the rotating shaft in the length direction is connected with the arc-shaped device of the laser guide puncture device. The power generation device is connected with a control system of the laser guide puncture equipment, and the control system controls the operation, the stop, the rotation angle, the speed and the direction of the longitudinal shaft rotating mechanism by controlling the operation, the stop, the operation speed, the direction and the angle of the power generation device. The specific implementation mode is that a transmission shaft of the power generation device is connected with the rotating shaft, the rotating shaft is connected with the arc-shaped device of the laser guide puncture device, the power generation device rotates to drive the rotating shaft to rotate, and the rotating shaft further drives the arc-shaped device of the laser guide puncture device to rotate. The control system controls the operation, stop, rotation angle, speed and direction of the longitudinal shaft rotating mechanism by controlling the operation, stop, operation speed, direction and angle of the power generation device.
Preferably, the longitudinal axis rotating mechanism further comprises an installation plate, one end of the installation plate far away from the ground is connected with the sliding mechanism of the laser guide puncture device, and one end, close to the power generation device, of the shaft sleeve in the length direction is connected with the installation plate. The mounting plate is connected with a sliding mechanism of the laser guide puncture device, and one end, close to the power generation device, of the shaft sleeve in the length direction is connected with the mounting plate.
Preferably, one end of the power generation device, which is far away from the rotating shaft, is provided with a braking device connected with the control system.
The power generation device is provided with a braking device which is also connected with the control system, so that the braking device and the power generation device are synchronous, the braking device is used for controlling the operation and the stop of the power generation device, when the laser guide puncture device is adjusted to a required position and angle, the braking device is also connected with the control system in order to prevent the power generation device from immediately stopping under the control of the system, the control system controls the braking device while controlling the power generation device, when the laser guide puncture device is adjusted to the required position and angle, the control system simultaneously controls the braking device and the power generation device to simultaneously stop, and the braking device blocks the power generation device while stopping the operation, so that the power generation device is not operated any more, and the purpose of further controlling the power generation device is achieved, and the longitudinal shaft rotating mechanism can stay at an accurate angle and position.
Preferably, at least two circular rotating blocks are arranged on the rotating shaft; the shaft sleeve is internally provided with a groove matched with the rotating shaft, and one end of the shaft sleeve, which is close to the mounting plate, is also provided with a second mounting groove matched with the power generation device.
The rotary shaft is provided with a circular rotating block, a groove matched with the rotary shaft is formed in the shaft sleeve, so that the rotary shaft can rotate in the shaft sleeve conveniently, the circular rotating block can bear the weight of a part connected below the rotary shaft, and the part connected below the rotary shaft is prevented from falling on the ground. The second mounting groove is mainly used for mounting the power generation device, the second mounting groove is matched with the power generation device, and the power generation device is clamped conveniently and prevented from shaking in the running process.
Preferably, a first mounting groove matched with the second mounting groove is formed in the mounting plate, one end, far away from the ground, of the power generation device is arranged in the first mounting groove, and a wiring groove is further formed in one end, close to the second mounting groove, of the shaft sleeve. In short, a part of the power generation device is arranged in the second mounting groove, and a part of the power generation device is arranged in the first mounting groove. The power generation device is convenient to clamp, and the power generation device is further prevented from shaking in the running process.
Preferably, the power generation device is a servo motor. The servo motor can control the speed and position accuracy accurately, and can convert the voltage signal into torque and rotating speed to drive a control object. The rotation speed of the rotor of the servo motor is controlled by an input signal and can quickly respond, the servo motor is used as an actuating element in an automatic control system, has the characteristics of small electromechanical time constant, high linearity, starting voltage and the like, and can convert a received electric signal into angular displacement or angular speed on a motor shaft for output. The servo motor is divided into two categories of direct current servo motors and alternating current servo motors, and is mainly characterized in that when the signal voltage is zero, the signal voltage has no autorotation phenomenon, and the rotating speed is reduced at a constant speed along with the increase of the torque. The servo is mainly positioned by pulses, and basically, the servo motor can rotate the angle corresponding to each pulse when receiving each pulse, thereby realizing displacement.
Preferably, the braking device is an electromagnetic brake. The electromagnetic brake is a connector for transmitting the torque force of the driving side to the driven side, can be freely combined, separated or braked according to requirements, and has the advantages of compact structure, simplicity in operation, sensitivity in response, long service life, reliability in use, easiness in realizing remote control and the like. The electromagnetic brake is a device which stops the machine in a short time and brakes the machine; braking may also be used to slow or adjust the operating speed of the machine for a short period of time. When current passes through the magnetic coil of the electromagnetic brake, the electromagnetic force attracts the brake pad, the brake pad is used for releasing the brake disc, and the transmission shaft drives the brake disc to normally operate or start. When the current of the electromagnetic brake is cut off, the brake pad is separated from the brake disc, friction torque is generated among the brake disc, the brake pad and the flange plate, and the transmission shaft is used for rapidly stopping.
A control system for a laser-guided longitudinal shaft rotating mechanism comprises a power supply A, a braking device, a power generation device and a PLC (programmable logic controller) connected with the power supply A, wherein the braking device and the power generation device are connected with the PLC.
A PLC, i.e. programmable logic controller, is a digital arithmetic operation electronic system designed specifically for use in industrial environments. It uses a programmable memory, in which the instructions for implementing logical operation, sequence control, timing, counting and arithmetic operation are stored, and utilizes digital or analog input and output to control various mechanical equipments or production processes. The system has the advantages of high reliability, easy programming, flexible configuration, complete input/output function modules, convenient installation, high running speed and the like.
In the control system, the PLC is respectively connected with a computer and the power supply A, the braking device and the power generation device are respectively connected with the PLC, and the power supply A provides power supply required by the operation of the PLC. The computer obtains data such as the number, the position and the like of the implanted particles through mathematical modeling, converts the obtained data into information such as time, speed, angle and the like, and the information such as the time, the speed, the angle and the like is controlled by a person in a computer program to input related data in a module of the PLC, the computer sends the related data to the PLC in the form of data signals, the PLC processes and analyzes the received data signals, and controls the on-off of the current of the braking device and the power generating device according to the data signals to control the running and the stopping of the braking device and the power generating device.
Preferably, the PLC includes a CPU and a power supply B connected to the power supply a, and further includes a memory, an external device interface, an output unit, and an input unit, and the memory, the external device interface, the output unit, and the input unit are all connected to the CPU.
The power supply B is used for converting alternating current into direct current required by the interior of the PLC, and most of the PLCs are powered by a switch type voltage-stabilized power supply at present. The CPU, i.e., the central processing unit, is a control center of the PLC and also a core component of the PLC, and the performance of the CPU determines the performance of the PLC. The central processor consists of a controller, an arithmetic unit and a register, and the circuits are all integrated on one chip and are connected with the input/output interface circuit of the memory through an address bus and a control bus. The central processing unit is used for processing and operating user programs, performing logic and mathematical operations and controlling the whole system to be coordinated. The memory is a semiconductor circuit having a memory function, and functions to store a system program, a user program, a logic variable, and other information. The system program is a program for controlling the PLC to realize various functions, is written by a PLC manufacturer and is solidified into a Read Only Memory (ROM), and cannot be accessed by a user. The external equipment interface is used for connecting the PLC with a computer. The input unit is an input interface connected with the controlled device by the PLC, is a bridge for signals to enter the PLC, and is used for receiving signals transmitted by the master element and the detection element. The input types include direct current input, alternating current input and alternating current/direct current input. The output unit is also a connecting component between the PLC and the controlled equipment, and is used for transmitting an output signal of the PLC to the controlled equipment, namely converting a weak current signal sent by the central processing unit into a level signal to drive an execution element of the controlled equipment. The output types include relay output, transistor output and thyristor output. The input unit and the output unit are respectively connected with the braking device and the power generation device, so that the PLC can simultaneously control the braking device and the power generation device.
The invention has the beneficial effects that:
according to the invention, the rotation of the longitudinal shaft rotating mechanism is controlled by controlling the running and stopping of the power generating device through the computer, so that the angle and position of the laser guide puncture equipment are more accurately adjusted. The braking device is connected with the power generation device, and when the longitudinal shaft rotating mechanism rotates to a required position, the power generation device can be braked in time, so that the laser emission angle is more accurate. The braking device is controlled by the control system, operates according to the control signal, and is accurate and quick without manual control.
Drawings
Fig. 1 is a schematic structural view of the longitudinal axis rotating mechanism of the present invention.
Fig. 2 is a sectional view of the longitudinal shaft rotating mechanism of the present invention.
Fig. 3 is a schematic structural diagram of the mounting plate and the shaft sleeve of the longitudinal shaft rotating mechanism of the invention.
Fig. 4 is a schematic structural view of the rotating shaft of the present invention.
Fig. 5 is a schematic structural view of a power generation device and a braking device of the present invention.
Fig. 6 is a schematic structural view of the braking apparatus of the present invention.
Fig. 7 is a laser-guided puncture apparatus equipped with the longitudinal axis rotating mechanism of the present invention.
Fig. 8 is a block diagram of the control system of the present invention.
FIG. 9 is a block diagram of the interior of a PLC of the present invention.
In the figure: 1-mounting a plate; 2-shaft sleeve; 3-a rotating shaft; 4-a power generation device; 11-a first mounting groove; 21-a groove; 22-a second mounting groove; 23-a wiring groove; 41-braking means.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
Example 1:
as shown in fig. 1 to 8, the longitudinal axis rotating mechanism for laser guidance according to the present embodiment includes a shaft sleeve 2, a rotating shaft 3 disposed in the shaft sleeve 2 and rotatably connected to the shaft sleeve 2, wherein one end of the rotating shaft in the length direction is connected to the laser-guided puncturing device, and a power generating device 4 connected to one end of the rotating shaft 3 away from the laser-guided puncturing device and connected to a control system.
A control system for a laser-guided longitudinal shaft rotating mechanism comprises a power supply A, a braking device 41, a power generation device 4 and a PLC (programmable logic controller) connected with the power supply A, wherein the braking device 41 and the power generation device 4 are connected with the PLC.
Example 2:
the present embodiment is defined by optimizing on the basis of the above embodiment 1, and as shown in fig. 1 to 8, the longitudinal axis rotating mechanism for laser guidance of the present embodiment includes a shaft sleeve 2, a rotating shaft 3 disposed in the shaft sleeve 2 and rotatably connected to the shaft sleeve 2, and one end of the rotating shaft in the length direction is connected to the laser-guided puncturing device, and a power generating device 4 connected to one end of the rotating shaft 3 away from the laser-guided puncturing device and connected to a control system.
Furthermore, the longitudinal axis rotating mechanism further comprises an installation plate 1, one end of the installation plate is far away from the ground and is connected with a sliding mechanism of the laser guide puncture device, and one end, close to the power generation device 4, of the shaft sleeve 2 in the length direction is connected with the installation plate 1. The mounting plate 1 is connected with a sliding mechanism of the laser guide puncture device, and one end, close to the power generation device 4, of the shaft sleeve 2 in the length direction is connected with the mounting plate 1.
And a braking device 41 connected with the control system is arranged at one end of the power generation device 4 far away from the rotating shaft 3.
A control system for a laser-guided longitudinal shaft rotating mechanism comprises a power supply A, a braking device 41, a power generation device 4 and a PLC (programmable logic controller) connected with the power supply A, wherein the braking device 41 and the power generation device 4 are connected with the PLC.
Example 3:
the present embodiment is defined by optimizing on the basis of the above embodiment 2, and as shown in fig. 1 to 9, the longitudinal axis rotating mechanism for laser guidance of the present embodiment includes a shaft sleeve 2, a rotating shaft 3 disposed in the shaft sleeve 2 and rotatably connected to the shaft sleeve 2, and one end of the rotating shaft in the length direction is connected to the laser-guided puncturing device, and a power generating device 4 connected to one end of the rotating shaft 3 away from the laser-guided puncturing device and connected to a control system.
The longitudinal axis rotating mechanism further comprises an installation plate 1, one end of the installation plate far away from the ground is connected with a sliding mechanism of the laser guide puncture device, and one end, close to the power generation device 4, of the shaft sleeve 2 in the length direction is connected with the installation plate 1. The mounting plate 1 is connected with a sliding mechanism of the laser guide puncture device, and one end, close to the power generation device 4, of the shaft sleeve 2 in the length direction is connected with the mounting plate 1.
And a braking device 41 connected with the control system is arranged at one end of the power generation device 4 far away from the rotating shaft 3.
Further, three circular rotating blocks are arranged on the rotating shaft 3; the shaft sleeve 2 is internally provided with a groove 21 matched with the rotating shaft 3, and one end of the shaft sleeve 2 close to the mounting plate 1 is also provided with a second mounting groove 22 matched with the power generation device 4.
Be provided with in the mounting panel 1 with second mounting groove 22 matched with first mounting groove 11, the one end setting that power generation facility 4 kept away from ground is in affiliated first mounting groove 11, be close to in the axle sleeve 2 the one end of second mounting groove 22 still is provided with trough 23.
The power generation device 4 is a servo motor.
The braking device 41 is an electromagnetic brake.
A control system for a laser-guided longitudinal shaft rotating mechanism comprises a power supply A, a braking device 41, a power generation device 4 and a PLC (programmable logic controller) connected with the power supply A, wherein the braking device 41 and the power generation device 4 are connected with the PLC.
Further, the PLC includes a CPU and a power supply B connected to the power supply a, and further includes a memory, an external device interface, an output unit, and an input unit, and the memory, the external device interface, the output unit, and the input unit are all connected to the CPU.
The invention is not limited to the above alternative embodiments, and any other various forms of products can be obtained by anyone in the light of the present invention, but any changes in shape or structure thereof, which fall within the scope of the present invention as defined in the claims, fall within the scope of the present invention.
Claims (6)
1. A longitudinal axis rotation mechanism for laser guidance, characterized by: comprises a shaft sleeve (2), a rotating shaft (3) which is arranged in the shaft sleeve (2) and is rotatably connected with the shaft sleeve (2), and one end of the length direction of the rotating shaft is connected with the laser guide puncture equipment, and a power generating device (4) which is connected with one end of the rotating shaft (3) far away from the laser guide puncture equipment and is connected with a control system;
the laser guiding puncture device is characterized by further comprising an installation plate (1) with one end far away from the ground connected with a sliding mechanism of the laser guiding puncture device, and one end, close to the power generation device (4), of the shaft sleeve (2) in the length direction is connected with the installation plate (1); one end of the power generation device (4) far away from the rotating shaft (3) is provided with a brake device (41) connected with the control system;
at least two circular rotating blocks are arranged on the rotating shaft (3); the shaft sleeve (2) is internally provided with a groove (21) matched with the rotating shaft (3), and one end of the shaft sleeve (2) close to the mounting plate (1) is also provided with a second mounting groove (22) matched with the power generation device (4).
2. A longitudinal axis rotation mechanism for laser guidance as claimed in claim 1, wherein: be provided with in mounting panel (1) with second mounting groove (22) matched with first mounting groove (11), be close to in axle sleeve (2) the one end of second mounting groove (22) still is provided with trough (23).
3. A longitudinal axis rotation mechanism for laser guidance as claimed in claim 2, wherein: the power generation device (4) is a servo motor.
4. A longitudinal axis rotation mechanism for laser guidance as claimed in claim 3, wherein: the brake device (41) is an electromagnetic brake.
5. A control system for a laser-guided longitudinal axis rotation mechanism, characterized by: the control system for the longitudinal axis rotation mechanism for laser guided puncture apparatus of claim 1, comprising a power supply a, a braking device (41), a power generation device (4) and a PLC connected to said power supply a, said braking device (41) and said power generation device (4) being connected to said PLC.
6. The control system for a laser-guided longitudinal axis rotation mechanism of claim 5, wherein: the PLC comprises a CPU and a power supply B connected with the power supply A, and further comprises a memory, an external equipment interface, an output unit and an input unit, wherein the memory, the external equipment interface, the output unit and the input unit are all connected with the CPU.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811102008.3A CN109173088B (en) | 2018-09-20 | 2018-09-20 | Longitudinal axis rotating mechanism for laser guide and control system |
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| CN201811102008.3A CN109173088B (en) | 2018-09-20 | 2018-09-20 | Longitudinal axis rotating mechanism for laser guide and control system |
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| CN1522671A (en) * | 2003-09-04 | 2004-08-25 | 高春平 | Mechanical arm type automatic tridimensional positioning system |
| US20100298832A1 (en) * | 2009-05-20 | 2010-11-25 | Osseon Therapeutics, Inc. | Steerable curvable vertebroplasty drill |
| CN104398292B (en) * | 2014-12-10 | 2017-05-03 | 万恒 | CT-guided automatic puncture positioning position finder convenient to control |
| CN107080579A (en) * | 2017-06-12 | 2017-08-22 | 南京亿高微波系统工程有限公司 | A kind of laser positioning punctures guider and its Needle localization method |
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