CN102113905A - Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment - Google Patents
Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment Download PDFInfo
- Publication number
- CN102113905A CN102113905A CN 201110027106 CN201110027106A CN102113905A CN 102113905 A CN102113905 A CN 102113905A CN 201110027106 CN201110027106 CN 201110027106 CN 201110027106 A CN201110027106 A CN 201110027106A CN 102113905 A CN102113905 A CN 102113905A
- Authority
- CN
- China
- Prior art keywords
- platform
- leading screw
- acupuncture
- middle level
- sliding track
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Finger-Pressure Massage (AREA)
Abstract
The invention discloses a novel acupuncture surgery manipulator mechanism in a nuclear magnetic resonance environment, and five degrees of freedom are distributed in three independent modules for implementation. A bottom-layer module consists of a screw-rod sliding rail mechanism, and two sets of gear rack mechanisms which are different, and the screw-rod sliding rail mechanism and one set of gear rack mechanism cooperates to realize the uplifting motion of a device under the control of a cylinder; and the other set of gear rack mechanism realizes the horizontal swinging of the device under the control of another cylinder; platforms of a middle-layer module realize pitching motion and translational motion in the horizontal plane of the device through the rotating of an ultrasonic motor and the pushing of the cylinder respectively; and an acupuncture-layer module realizes the acupuncture motion, and linear feed motion of an acupuncture body in the horizontal direction is realized through the rotating of the ultrasonic motor by the screw-rod sliding rail mechanism. By adopting the novel acupuncture surgery manipulator mechanism with the structure, vertical, horizontal, inclined and swinging motion in large range can be realized; and simultaneously the structure is simple to be capable of helping an acupuncture surgery be finished in a limited space of a nuclear magnetism instrument, and the accuracy of the surgery is improved to a greater extent.
Description
Technical field
The present invention relates to acupuncture operation manipulator mechanism, be specifically related to the novel pin thorn operation manipulator mechanism under the magnetic nuclear resonance environment.
Background technology
Current, the main method of carrying out operation on prostate is closely corpuscular radiation treatment of Wicresoft.Operation process is implanted prostate by acupuncture with radioactive particle, carries out local radiotherapy.And the acupuncture of usually manually carrying out operation, to face mostly low precision, can't realtime imaging shortcoming; For the track of planning in advance, also may because of patient body move and acupuncture for the stimulation of soft tissue, and can't realize the effect estimated.And the means of or robot arm realization high accuracy acupuncture auxiliary by robot arm can well address these problems.
NMR (Nuclear Magnetic Resonance)-imaging (MRI) is compared with traditional X ray, CT, can avoid x x radiation x to healthy cell, and there are good soft tissue resolving power and precise geometrical to learn characteristic, can lean out lesion region more accurately, to guarantee rational track optimizing, and the judgement to lesion portion is more accurate, to guarantee to implant the particle position precision.The patent No. be the Chinese patent of CN201010137726.1 disclose " a kind of acupuncture manipulator mechanism that is applied to magnetic nuclear resonance environment ", the control by to the active sliding block of six slide block forks realizes the motion of robot arm.Wherein, lower floor is made up of four slide block swing-bar mechanisms, front and back two covers are relatively independent, every cover is made up of two slide block swing-bar mechanisms, shared cylinder control realizes being synchronized with the movement, and front and back two covers are then controlled by difference cylinder respectively, asynchronous movement, realize mechanism about, about, tilt, wave the motion of four degree of freedom.The acupuncture campaign, by the leading screw sliding track mechanism, the rotation by supersonic motor realizes needle body straight-line feed motion in the horizontal direction.Adopt this mechanism can overcome the drawback of the untimely and trajectory planning difficulty of the imaging effect of acupuncture operation, the very big precision of the raising of degree operation, perform the operation success and integrity.But this patented technology exists upper platform to be supported by fork, and rigidity is lower, the problem of easy swing.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of and can realize real-time control, in limited space, improve the precision of acupuncture operation, the novel pin thorn operation manipulator mechanism under misery and the magnetic nuclear resonance environment that rigidity is high of minimizing patient operation.
Novel pin thorn operation manipulator mechanism under the magnetic nuclear resonance environment of the present invention, it comprises the bottom module that is provided with in turn from bottom to up, middle level module and acupuncture layer module, described bottom module comprises underlying platform, described middle level module comprises the middle level platform, described acupuncture layer module comprises the acupuncture platform, on described acupuncture platform, second supersonic motor is installed, the output shaft of described second supersonic motor links to each other with first leading screw, described first leading screw is connected by bearing with leading screw seat on being fixed on the acupuncture platform, the both sides that are enclosed within the nut on first leading screw are enclosed within on the feed rod separately, the two ends of two feed rods are connected on the leading screw seat, on described nut, be connected with operation needle, between described underlying platform and middle level platform, be provided with the nut platform, the first leading screw sliding track mechanism is installed on described underlying platform, the slide block of the described first leading screw sliding track mechanism and first tooth bar are fixedly linked, described first tooth bar be rotatably installed in the cooperation that is meshed of wobble gear on second leading screw by clutch shaft bearing, described nut platform is connected on second leading screw that is positioned at the wobble gear top, one end and the wobble gear of at least two leads are fixedly linked, the other end of at least two leads be inserted in the perforate on the nut platform and with described perforate mutually slippage cooperate, cooperation that the bottom of described second leading screw vertically is rotatably connected on the described underlying platform by second bearing and its top and nut platform are threaded mutually, on the bottom surface of described wobble gear, be connected with the second leading screw sliding track mechanism, the slide block of the described second leading screw sliding track mechanism and second tooth bar are fixedly linked, the cooperation that is meshed with lifting gear on second leading screw that is installed between underlying platform and the wobble gear of described second tooth bar, on described nut platform, first supersonic motor is installed, the output shaft along continuous straight runs setting of described first supersonic motor also is fixedly linked with the middle level platform, the setting that is perpendicular to one another with the output shaft of first supersonic motor of described second leading screw, on the bottom surface of described middle level platform, be connected with the 3rd leading screw sliding track mechanism, the slide block and the fork of described the 3rd leading screw sliding track mechanism are fixedly linked, on the platform of described middle level, have the line slideway groove, on described acupuncture platform, have oblique gathering sill with the angled setting of described line slideway groove, described fork is inserted in the described oblique gathering sill by the straight-line guidance groove, the setting that is perpendicular to one another with the output shaft of first supersonic motor of the direction of motion of the slide block of described the 3rd leading screw sliding track mechanism.
Outstanding advantage of the present invention is:
Structure of the present invention is flexible, about mechanisms such as integrated use rack-and-pinion, feed screw nut, fork chute can realize on a large scale, about, inclination and oscillating motion; The while compact conformation, cylinder arrangement is ingenious, can in the nuclear magnetic resonance spectrometer confined space, assist and finish the acupuncture operation, overcome the drawback of the untimely and trajectory planning difficulty of imaging effect in the operation process, the very big precision of the raising of degree operation, the successful property and the integrity of operation, thus opened up new approach for NMR (Nuclear Magnetic Resonance)-imaging (MRI) guided robot assisted minimally invasive surgical operation.
Description of drawings
Fig. 1 is the structural perspective of the novel pin thorn operation manipulator mechanism under the magnetic nuclear resonance environment of the present invention;
Fig. 2 is the bottom module vertical view of mechanism shown in Figure 1;
Fig. 3 is the local upwarding cutaway view of the bottom of mechanism shown in Figure 1;
Fig. 4 is the middle level platform upward view of mechanism shown in Figure 1;
Fig. 5 is the acupuncture platform vertical view of mechanism shown in Figure 1.
The specific embodiment
Below in conjunction with specific embodiment, and, the technology of the present invention is described further with reference to accompanying drawing:
As shown in the figure, novel pin thorn operation manipulator mechanism under the magnetic nuclear resonance environment, it comprises the bottom module that is provided with in turn from bottom to up, middle level module and acupuncture layer module, described bottom module comprises underlying platform 2, described middle level module comprises middle level platform 21, described acupuncture layer module comprises acupuncture platform 24, second supersonic motor 29 is installed on described acupuncture platform, the output shaft of described second supersonic motor 29 links to each other with first leading screw 28, described first leading screw 28 is connected by bearing with leading screw seat 26 on being fixed on the acupuncture platform, the both sides that are enclosed within the nut on first leading screw 28 are enclosed within on the feed rod separately, the two ends of two feed rods 27 are connected on the leading screw seat, on described nut, be connected with operation needle 25, between described underlying platform and middle level platform, be provided with the nut platform, the first leading screw sliding track mechanism is installed on described underlying platform, the slide block of the described first leading screw sliding track mechanism and first tooth bar 5 are fixedly linked, the cooperation that is meshed with wobble gear 3 be rotatably installed in second leading screw 4 by clutch shaft bearing on of described first tooth bar 5, described nut platform is connected on second leading screw that is positioned at the wobble gear top, one end and the wobble gear of at least two leads 13 are fixedly linked, the other end of at least two leads be inserted in the perforate on the nut platform and with described perforate mutually slippage cooperate.Cooperation that the bottom of described second leading screw vertically is rotatably connected on the described underlying platform 2 by second bearing and its top and nut platform are threaded mutually, on the bottom surface of described wobble gear, be connected with the second leading screw sliding track mechanism, the slide block of the described second leading screw sliding track mechanism and second tooth bar 11 are fixedly linked, the cooperation that is meshed with lifting gear 12 on second leading screw 4 that is installed between underlying platform and the wobble gear of described second tooth bar, first supersonic motor 22 is installed on described nut platform, the output shaft along continuous straight runs setting of described first supersonic motor also is fixedly linked with middle level platform 21, the setting that is perpendicular to one another with the output shaft of first supersonic motor 22 of described second leading screw 4, on the bottom surface of described middle level platform, be connected with the 3rd leading screw sliding track mechanism, the slide block 17 and the fork 18 of described the 3rd leading screw sliding track mechanism are fixedly linked, on described middle level platform 21, have line slideway groove 20, on described acupuncture platform, have oblique gathering sill with the angled setting of described line slideway groove, described fork is inserted in the described oblique gathering sill 30 by the straight-line guidance groove, the setting that is perpendicular to one another with the output shaft of first supersonic motor of the direction of motion of the slide block of described the 3rd leading screw sliding track mechanism.
Shown in Fig. 2,3,4 as one embodiment of the present invention, the described first leading screw sliding track mechanism comprises first line slideway 7 that is installed on the underlying platform and is installed in first cylinder 1 on the underlying platform by bearing block, first line slideway is provided with first slide block 6 that is slidingly connected with it, and a side of described first slide block links to each other with the piston rod of first cylinder 1 and its opposite side and first tooth bar 5 are fixedly linked.
The described second leading screw sliding track mechanism comprises second line slideway 14 that is installed on wobble gear 3 bottom surfaces and is installed in second cylinder 8 on the underlying platform by bearing block 9, the side that second line slideway is provided with second slide block, 15, the second slide blocks that are slidingly connected with it links to each other with the piston rod 10 of second cylinder 8 and its opposite side and second tooth bar 11 are fixedly linked.
Described the 3rd leading screw sliding track mechanism comprises the 3rd line slideway 19 that is installed on middle level platform 21 bottom surfaces and is installed in the 3rd cylinder 16 on middle level platform 21 bottom surfaces by bearing block, the side that the 3rd line slideway is provided with the 3rd slide block 17, the three slide blocks 17 that are slidingly connected with it links to each other with the piston rod of the 3rd cylinder 16 and its opposite side and fork are fixedly linked.
Certain described leading screw sliding track mechanism also can adopt motor-nut screw structure.
The work process of this device is as follows:
The lifting campaign: cylinder piston rod 10 promotions second slide block 15 that links to each other with air pump by control moves along second line slideway 14, thereby realize moving of second tooth bar, 11 horizontal directions, rotate around vertical direction to drive lifting gear 12, reach the rotation of second leading screw 4, the top of second leading screw 4 and nut platform are for being threaded, according to the screw-nut body principle, the mutarotation transhipment is moving to be rectilinear motion, and then the lifting campaign of implement device.By controlling the rotation of first supersonic motor 22, realize the elevating movement of middle level platform 21, middle level platform and acupuncture layer platform 24 are consolidated by fork 18, and then the elevating movement of implement device.
Translational motion: the 3rd cylinder 16 that links to each other with air pump by control makes piston rod promotion slide block 17 move horizontally along the 3rd line slideway 19, and then the motion of realization fork 18 in straight-line guidance groove 20, because the middle level platform is consolidated by fork 18 and acupuncture platform, therefore fork 18 motion in oblique gathering sill 30 simultaneously, under straight-line groove and the common constraint of oblique slot, reach acupuncture platform 24 and move horizontally, and then the moving horizontally of implement device.First cylinder 1 that links to each other with air pump by control makes piston rod promotion slide block 6 move horizontally along first line slideway 7, thereby realize moving of first tooth bar, 5 horizontal directions, rotate around vertical direction to drive wobble gear 3, wobble gear 3 and second leading screw 4, middle level platform 21 are consolidated, and then swing in the horizontal plane of implement device.
Acupuncture campaign: by second supersonic motor 29, make first leading screw 28 drive operation needles 25 motions, will move and power is passed to needle point, realization acupuncture operation.
Therefore, by the cooperation of translational motion and lifting campaign, realize the adjustment of needle body spatial pose; By the acupuncture campaign, finally realize the acupuncture operation.
Claims (1)
1. the novel pin under the magnetic nuclear resonance environment is stung the operation manipulator mechanism, it comprises the bottom module that is provided with in turn from bottom to up, middle level module and acupuncture layer module, described bottom module comprises underlying platform, described middle level module comprises the middle level platform, described acupuncture layer module comprises the acupuncture platform, on described acupuncture platform, second supersonic motor is installed, the output shaft of described second supersonic motor links to each other with first leading screw, described first leading screw is connected by bearing with leading screw seat on being fixed on the acupuncture platform, the both sides that are enclosed within the nut on first leading screw are enclosed within respectively on the feed rod, the two ends of two feed rods are connected on the leading screw seat, on described nut, be connected with operation needle, it is characterized in that: between described underlying platform and middle level platform, be provided with the nut platform, the first leading screw sliding track mechanism is installed on described underlying platform, the slide block of the described first leading screw sliding track mechanism and first tooth bar are fixedly linked, described first tooth bar be rotatably installed in the cooperation that is meshed of wobble gear on second leading screw by clutch shaft bearing, described nut platform is connected on second leading screw that is positioned at the wobble gear top, one end and the wobble gear of at least two leads are fixedly linked, the other end of at least two leads be inserted in the perforate on the nut platform and with described perforate mutually slippage cooperate, cooperation that the bottom of described second leading screw vertically is rotatably connected on the described underlying platform by second bearing and its top and nut platform are threaded mutually, on the bottom surface of described wobble gear, be connected with the second leading screw sliding track mechanism, the slide block of the described second leading screw sliding track mechanism and second tooth bar are fixedly linked, the cooperation that is meshed with lifting gear on second leading screw that is installed between underlying platform and the wobble gear of described second tooth bar, on described nut platform, first supersonic motor is installed, the output shaft along continuous straight runs setting of described first supersonic motor also is fixedly linked with the middle level platform, the setting that is perpendicular to one another with the output shaft of first supersonic motor of described second leading screw, on the bottom surface of described middle level platform, be connected with the 3rd leading screw sliding track mechanism, the slide block and the fork of described the 3rd leading screw sliding track mechanism are fixedly linked, on the platform of described middle level, have the line slideway groove, on described acupuncture platform, have oblique gathering sill with the angled setting of described line slideway groove, described fork is inserted in the described oblique gathering sill by the straight-line guidance groove, the setting that is perpendicular to one another with the output shaft of first supersonic motor of the direction of motion of the slide block of described the 3rd leading screw sliding track mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110027106A CN102113905B (en) | 2011-01-25 | 2011-01-25 | Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110027106A CN102113905B (en) | 2011-01-25 | 2011-01-25 | Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102113905A true CN102113905A (en) | 2011-07-06 |
| CN102113905B CN102113905B (en) | 2012-08-29 |
Family
ID=44212913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110027106A Expired - Fee Related CN102113905B (en) | 2011-01-25 | 2011-01-25 | Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102113905B (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102499726A (en) * | 2011-11-09 | 2012-06-20 | 天津大学 | Close-distance minimally-invasive manipulator mechanism for nuclear magnetic resonance imaging environment |
| CN102580231A (en) * | 2012-03-27 | 2012-07-18 | 天津大学 | Acupuncture manipulator mechanism for nuclear magnetic resonance environment |
| CN102657548A (en) * | 2012-04-25 | 2012-09-12 | 天津大学 | Reversing nuclear magnetic compatible puncture needle clamp |
| CN102908175A (en) * | 2012-10-17 | 2013-02-06 | 天津大学 | Minimally invasive surgery prickling mechanism based on cable driving |
| CN102921099A (en) * | 2012-10-23 | 2013-02-13 | 天津大学 | Short-distance particle implantation robot based on ultrasonic image navigation |
| CN103330594A (en) * | 2013-06-27 | 2013-10-02 | 苏州边枫电子科技有限公司 | Auxiliary puncture needle feeding device driven by stepping motor |
| CN103385746A (en) * | 2013-06-27 | 2013-11-13 | 苏州边枫电子科技有限公司 | Auxiliary needle feeding device for puncture needle |
| CN103481281A (en) * | 2013-09-06 | 2014-01-01 | 浙江工业大学之江学院工业研究院 | Mechanical arm flexible in action and stable in operation |
| CN104623797A (en) * | 2015-02-16 | 2015-05-20 | 天津大学 | Near-distance image navigation full-automatic radioactive particle implanting device |
| CN106388939A (en) * | 2016-10-17 | 2017-02-15 | 中国矿业大学 | Magnetic-resonance compatible pneumatic puncture surgical robot |
| CN106420018A (en) * | 2016-11-29 | 2017-02-22 | 哈尔滨理工大学 | Flexible trocar concurrent puncture mechanism based on gear transmission |
| CN106842063A (en) * | 2017-04-04 | 2017-06-13 | 河南锂想动力科技有限公司 | A kind of battery core test device |
| CN109965949A (en) * | 2019-03-29 | 2019-07-05 | 南京航空航天大学 | A kind of six degree of freedom needing machine device people for inside magnetic resonance imager |
| WO2019144904A1 (en) * | 2018-01-29 | 2019-08-01 | The University Of Hong Kong | Robotic stereotactic system for mri-guided neurosurgery |
| CN110207939A (en) * | 2019-06-24 | 2019-09-06 | 中国航天空气动力技术研究院 | A kind of real-time test mechanism for changing model mean angle of attack |
| CN111407374A (en) * | 2020-04-07 | 2020-07-14 | 陈建辉 | Intracardiac branch of academic or vocational study piercing depth |
| CN111434315A (en) * | 2019-01-15 | 2020-07-21 | 北京理工大学 | Puncture angle adjusting device and puncture auxiliary robot |
| CN112569461A (en) * | 2020-11-26 | 2021-03-30 | 哈尔滨理工大学 | Pneumatic prostate particle implantation mechanism |
| CN112643662A (en) * | 2020-12-21 | 2021-04-13 | 上海交通大学 | Multi-degree-of-freedom operating robot with force sense perception |
| CN114748143A (en) * | 2022-04-20 | 2022-07-15 | 哈尔滨理工大学 | Flexible needle puncture robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070078473A1 (en) * | 2005-09-30 | 2007-04-05 | Restoration Robotics, Inc. | Methods of harvesting and implanting follicular units using a coaxial tool |
| WO2007064937A1 (en) * | 2005-12-02 | 2007-06-07 | University Of Rochester | Image-guided therapy delivery and diagnostic needle system |
| CN101411631A (en) * | 2008-11-21 | 2009-04-22 | 南开大学 | Controlling mechanism of five-freedom degree vertebral column minimally invasive robot |
| WO2009152613A1 (en) * | 2008-06-18 | 2009-12-23 | Engineering Services Inc. | Mri compatible robot with calibration phantom and phantom |
-
2011
- 2011-01-25 CN CN201110027106A patent/CN102113905B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070078473A1 (en) * | 2005-09-30 | 2007-04-05 | Restoration Robotics, Inc. | Methods of harvesting and implanting follicular units using a coaxial tool |
| WO2007064937A1 (en) * | 2005-12-02 | 2007-06-07 | University Of Rochester | Image-guided therapy delivery and diagnostic needle system |
| WO2009152613A1 (en) * | 2008-06-18 | 2009-12-23 | Engineering Services Inc. | Mri compatible robot with calibration phantom and phantom |
| CN101411631A (en) * | 2008-11-21 | 2009-04-22 | 南开大学 | Controlling mechanism of five-freedom degree vertebral column minimally invasive robot |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102499726A (en) * | 2011-11-09 | 2012-06-20 | 天津大学 | Close-distance minimally-invasive manipulator mechanism for nuclear magnetic resonance imaging environment |
| CN102580231A (en) * | 2012-03-27 | 2012-07-18 | 天津大学 | Acupuncture manipulator mechanism for nuclear magnetic resonance environment |
| CN102580231B (en) * | 2012-03-27 | 2013-06-12 | 天津大学 | Acupuncture manipulator mechanism for nuclear magnetic resonance environment |
| CN102657548B (en) * | 2012-04-25 | 2014-04-02 | 天津大学 | Reversing nuclear magnetic compatible puncture needle clamp |
| CN102657548A (en) * | 2012-04-25 | 2012-09-12 | 天津大学 | Reversing nuclear magnetic compatible puncture needle clamp |
| CN102908175A (en) * | 2012-10-17 | 2013-02-06 | 天津大学 | Minimally invasive surgery prickling mechanism based on cable driving |
| CN102908175B (en) * | 2012-10-17 | 2014-10-15 | 天津大学 | Minimally invasive surgery prickling mechanism based on cable driving |
| CN102921099A (en) * | 2012-10-23 | 2013-02-13 | 天津大学 | Short-distance particle implantation robot based on ultrasonic image navigation |
| CN102921099B (en) * | 2012-10-23 | 2014-01-01 | 天津大学 | Short-distance particle implantation robot based on ultrasonic image navigation |
| CN103330594A (en) * | 2013-06-27 | 2013-10-02 | 苏州边枫电子科技有限公司 | Auxiliary puncture needle feeding device driven by stepping motor |
| CN103385746A (en) * | 2013-06-27 | 2013-11-13 | 苏州边枫电子科技有限公司 | Auxiliary needle feeding device for puncture needle |
| CN103481281A (en) * | 2013-09-06 | 2014-01-01 | 浙江工业大学之江学院工业研究院 | Mechanical arm flexible in action and stable in operation |
| CN104623797A (en) * | 2015-02-16 | 2015-05-20 | 天津大学 | Near-distance image navigation full-automatic radioactive particle implanting device |
| CN106388939A (en) * | 2016-10-17 | 2017-02-15 | 中国矿业大学 | Magnetic-resonance compatible pneumatic puncture surgical robot |
| CN106388939B (en) * | 2016-10-17 | 2023-03-31 | 中国矿业大学 | Magnetic resonance compatible pneumatic puncture surgical robot |
| CN106420018A (en) * | 2016-11-29 | 2017-02-22 | 哈尔滨理工大学 | Flexible trocar concurrent puncture mechanism based on gear transmission |
| CN106420018B (en) * | 2016-11-29 | 2023-08-11 | 哈尔滨理工大学 | Gear transmission-based sleeve flexible needle synchronous puncture mechanism |
| CN106842063A (en) * | 2017-04-04 | 2017-06-13 | 河南锂想动力科技有限公司 | A kind of battery core test device |
| WO2019144904A1 (en) * | 2018-01-29 | 2019-08-01 | The University Of Hong Kong | Robotic stereotactic system for mri-guided neurosurgery |
| US11779398B2 (en) | 2018-01-29 | 2023-10-10 | The University Of Hong Kong | Robotic stereotactic system for MRI-guided neurosurgery |
| CN111434315A (en) * | 2019-01-15 | 2020-07-21 | 北京理工大学 | Puncture angle adjusting device and puncture auxiliary robot |
| CN111434315B (en) * | 2019-01-15 | 2021-04-13 | 北京理工大学 | Puncture angle adjusting device and puncture auxiliary robot |
| CN109965949A (en) * | 2019-03-29 | 2019-07-05 | 南京航空航天大学 | A kind of six degree of freedom needing machine device people for inside magnetic resonance imager |
| CN109965949B (en) * | 2019-03-29 | 2024-02-13 | 南京航空航天大学 | Six-degree-of-freedom needling robot used in magnetic resonance imaging instrument |
| CN110207939A (en) * | 2019-06-24 | 2019-09-06 | 中国航天空气动力技术研究院 | A kind of real-time test mechanism for changing model mean angle of attack |
| CN111407374A (en) * | 2020-04-07 | 2020-07-14 | 陈建辉 | Intracardiac branch of academic or vocational study piercing depth |
| CN112569461A (en) * | 2020-11-26 | 2021-03-30 | 哈尔滨理工大学 | Pneumatic prostate particle implantation mechanism |
| CN112643662A (en) * | 2020-12-21 | 2021-04-13 | 上海交通大学 | Multi-degree-of-freedom operating robot with force sense perception |
| CN112643662B (en) * | 2020-12-21 | 2022-09-27 | 上海交通大学 | Multi-degree-of-freedom operating robot with force sense perception |
| CN114748143A (en) * | 2022-04-20 | 2022-07-15 | 哈尔滨理工大学 | Flexible needle puncture robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102113905B (en) | 2012-08-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102113905B (en) | Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment | |
| CN102258826B (en) | Five-freedom degree minimally invasive acupuncture operation guiding mechanism | |
| CN106901836B (en) | A kind of prostate biopsy operating robot | |
| CN102921099B (en) | Short-distance particle implantation robot based on ultrasonic image navigation | |
| KR101216818B1 (en) | Apparatus for scanning a position | |
| CN104548328B (en) | Minimally invasive local radiotherapy robot device | |
| CN106880487B (en) | Automatic moxibustion therapeutic instrument | |
| CN107773305A (en) | A kind of four-degree-of-freedom tumor puncture auxiliary robot | |
| CN109223056B (en) | Novel automatic prostate biopsy robot with remote center motion | |
| CN103027818B (en) | Close-range seed implantation robot and bed connection-type automatic control operating table | |
| CN101791451B (en) | Acupuncture manipulator mechanism for applying to magnetic nuclear resonance environment | |
| CN105852939A (en) | Automatic real-time positioning and puncturing robot arm for CT | |
| CN102499726A (en) | Close-distance minimally-invasive manipulator mechanism for nuclear magnetic resonance imaging environment | |
| CN105832362A (en) | Multi-freedom-degree cone-beam CT imaging system | |
| CN204446969U (en) | Vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus | |
| CN109173099A (en) | Overhead focuses ultrasonic multi-dimensional movement treatment positioning scanning means | |
| CN201055381Y (en) | Three-dimensional therapeutic bed | |
| CN104825231B (en) | A kind of minimally invasive intervention operation robot of guided by magnetic resonance breast cancer and its control method | |
| CN114343853B (en) | Clamping and twisting device, delivery device and interventional operation robot | |
| CN2852945Y (en) | Three-dimensional therapeutic bed used for radiotherapeutic system | |
| CN104548364A (en) | Automatic positioning device for radiation treatment | |
| CN110141317B (en) | Multi-needle automatic puncture device for tumor radioactive particle implantation treatment | |
| CN108743369B (en) | Automatic acupuncture bed | |
| CN109223053A (en) | A kind of prostate biopsy robot | |
| CN201959412U (en) | Novel nuclear magnetic compatible operation mechanism for close-range particle radiotherapy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120829 Termination date: 20210125 |