CN102908175A - Minimally invasive surgery prickling mechanism based on cable driving - Google Patents
Minimally invasive surgery prickling mechanism based on cable driving Download PDFInfo
- Publication number
- CN102908175A CN102908175A CN2012103951550A CN201210395155A CN102908175A CN 102908175 A CN102908175 A CN 102908175A CN 2012103951550 A CN2012103951550 A CN 2012103951550A CN 201210395155 A CN201210395155 A CN 201210395155A CN 102908175 A CN102908175 A CN 102908175A
- Authority
- CN
- China
- Prior art keywords
- silk
- prickling
- freedom
- rotating shaft
- drive mechanism
- 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)
- Transmission Devices (AREA)
Abstract
The invention discloses a minimally invasive surgery prickling mechanism based on cable driving. The minimally invasive surgery prickling mechanism consists of a base static platform A, an external motor base B, a U-shaped movable platform C, a two-degree-of-freedom swivel D, a prickling structure E and a two-degree-of-freedom parallel mechanism F. Before surgery, the vertical height of the U-shaped movable platform C is adjusted and set in advance according to different surgery environments; in a surgery process, five nuclear magnetic compatible ultrasonic motors are used for driving; the two-degree-of-freedom parallel mechanism is used for realizing translation of the U-shaped movable platform in a horizontal plane; an elevating platform is used for realizing upward and downward movement of the U-shaped movable platform; the two-degree-of-freedom swivel is used for adjusting posture adjustment of a central shaft of the prickling structure; and the prickling structure is used for realizing prickling actions, so that five degrees of freedom of a needle body is realized. A cable driving structure is adopted for transmitting power in a nuclear magnetic resonance environment, the minimally invasive surgery prickling mechanism has a compact structure and moves flexibly, and the accuracy and success rate of prickling surgery can be increased; and in a strong magnetic field environment, the surgery efficiency is increased, and pain of patients is reduced.
Description
Technical field
The present invention relates to a kind of Wicresoft acupuncture operation equipment, relate in particular to a kind of Minimally Invasive Surgery acupuncture mechanism based on the silk transmission.
Background technology
Under the present technical conditions, the main method of operation on prostate is the close-range particle radiotherapy.Namely in operation process, radioactive particle is implanted prostatic diseased region, utilize the radioactivity of particle to treat.Yet generally, operation process is manually finished by the doctor, and this just will inevitably run into following several respects problem: (1) performance accuracy is poor.The doctor only with the observation of naked eyes to the nuclear magnetic resonance spectrometer image, certainly exists larger error.And the operation technique experience of doctor own had relatively high expectations, can cause unnecessary misery to patient in case make mistakes.(2) can't adapt in real time the change of patient's pose.In operation process, patient body perhaps has slight change, causes diseased region to depart from estimating position.Therefore, the track route that the doctor plans in advance just needs again to adjust, and has increased the repeated workload of operation.
NMR (Nuclear Magnetic Resonance)-imaging (MRI) is existing imaging means, compares with traditional imaging technique (such as x-ray bombardment, CT imaging etc.), and is with the obvious advantage: avoided the destruction of radiation effects to normal human tissue, thereby more healthy; Have simultaneously stronger resolution capability, make imaging more accurate, for the accurate implantation of radioactive particle provides important guarantee.But, all narrow in the working chamber of most nuclear magnetic resonance analyser, and have very strong magnetic field, this has just proposed new restriction to operation mechanism, mainly be following 3 points: (1) acupuncture mechanism itself and moving process thereof can not disturb the magnetic field of nuclear magnetic resonance analyser, otherwise affect image quality; (2) strong magnetic field circumstance can not affect the operation moving process of acupuncture mechanism, otherwise can't realize predeterminated target; (3) whole mechanism must satisfy certain dimensional requirement, and is enough light and handy, can finish each action in narrow space.
Therefore, no matter be material of main part or the driving arrangement of acupuncture mechanism, all to satisfy the condition of nuclear-magnetism compatibility, this exploitation to this operation mechanism has proposed harsh requirement.
Summary of the invention
For above-mentioned prior art, the invention provides a kind of Minimally Invasive Surgery acupuncture mechanism based on the silk transmission, belong to a kind of novel Wicresoft's acupuncture operation equipment based on nuclear magnetic resonance (MRI) navigation, can improve precision and the success rate of acupuncture operation; In strong magnetic field circumstance, realize the real-time control to mechanism, improve operation efficient, it is painful to reduce patient.The present invention combines the technological know-how of theory of mechanisms and medical science related fields, and realization is location and acupuncture action accurately, thereby replacement doctor's both hands are finished the operating process of Minimally Invasive Surgery under the magnetic nuclear resonance environment.
In order to solve the problems of the technologies described above, to the present invention is based on the technical scheme that the Minimally Invasive Surgery acupuncture mechanism of a transmission is achieved and be: comprise pedestal silent flatform and external motor seat; The front portion of described pedestal silent flatform is provided with U-shaped moving platform, and described U-shaped moving platform is provided with a two-freedom rotary head, and described two-freedom rotary head is provided with needling structure; The rear portion of described pedestal silent flatform (A) is fixed with the two-degree-of-freedom parallel mechanism of the described U-shaped moving platform of control; Described two-degree-of-freedom parallel mechanism (F) comprises the parallelogram linkage that two covers are connected with top, the U-shaped moving platform left and right sides respectively, and described parallelogram linkage is connected with a lead screw transmission structure A; Described parallelogram linkage is by consisting of with hinged connecting rod A, nut, the connecting rod B among the lead screw transmission structure A of described U-shaped moving platform successively; Leading screw among the described lead screw transmission structure A is driven by supersonic motor A; Described U-shaped moving platform comprises U-shaped framework, the bottom of described U-shaped framework is provided with universal wheel, described U-shaped framework internal orifice place is provided with hoistable platform, be respectively equipped with a lead screw transmission structure B between two pillars of described hoistable platform and U-shaped framework, the axle head of the leading screw bottom among the described lead screw transmission structure B stretches out from the bottom of U-shaped frame pillar, and the bottom of leading screw is higher than the bottom of described universal wheel among the described lead screw transmission structure B; Described hoistable platform is the U font, and the nut among the described lead screw transmission structure B and the two ends at hoistable platform top are connected; Described two-freedom rotary head comprises the bracing ring that is arranged on the described hoistable platform, described bracing ring is provided with horizontal rotating shaft and vertically rotating shaft, and the central shaft of described horizontal rotating shaft, described needling structure and described vertical rotating shaft overlap with X-axis, Y-axis and the Z axis of rectangular coordinate system respectively; The rotation of described horizontal rotating shaft and vertically rotating shaft is driven by silk drive mechanism A and silk drive mechanism B respectively; Comprise the needle body that overlaps with the central shaft of needling structure in the described needling structure, described needle body drives it by silk drive mechanism C and moves along y-axis shift; Described two-degree-of-freedom parallel mechanism is realized the translation of described U-shaped moving platform in horizontal plane, and described hoistable platform is realized moving up and down of described U-shaped moving platform; Described two-freedom rotary head realizes the attitude regulation of needling structure central shaft, and described needling structure is realized the acupuncture action.
Further will, described silk drive mechanism A and silk drive mechanism B are driven by supersonic motor B and supersonic motor C respectively; Between the active silk wheel of described supersonic motor B and described silk drive mechanism A, described supersonic motor C is provided with shaft coupling between taking turns with the active silk of described silk drive mechanism B respectively; Described silk drive mechanism A's is coaxial with described horizontal rotating shaft by the movable wire wheel, and described silk drive mechanism B's is coaxial with described vertical rotating shaft by the movable wire wheel.
Also have, described needling structure comprises barrel susceptor, and the front portion is provided with the lead screw transmission structure C in the described barrel susceptor, and leading screw wherein is the female thread leading screw, and described female thread leading screw is combined with an external screw thread nut; The rear portion is provided with the sliding sleeve that cooperates with axially directed groove in the described barrel susceptor; The front end of described needle body stretches out from the front end of barrel susceptor, and the rear end of described needle body is connected with a needle body connecting rod, and described needle body connecting rod is connected centre bore with the centre bore of external screw thread nut respectively and is connected with sliding sleeve; The outer surface of revolution of described female thread leading screw is provided with the spiral type wire casing, be wound with driving wire in the described spiral type wire casing, described barrel susceptor is provided with wears an aperture, one end and the female thread leading screw of driving wire are fixed, the other end of described driving wire is connected with an active silk wheel, and described active silk wheel is connected to a supersonic motor D by a shaft coupling.
Compared with prior art, the invention has the beneficial effects as follows:
Adopt the silk kind of drive among the present invention, with electric machine external, can effectively avoid motor itself to the impact of nuclear magnetic resonance analyser internal magnetic field, guaranteed image quality; Because motor need not directly to link to each other with actuator, therefore significantly alleviated the weight of actuator, make mechanism lighter and handier.
By parallelogram linkage the moving platform rotational freedom is retrained among the present invention, two-degree-of-freedom parallel mechanism has been realized whole mechanism accurately locating rapidly in horizontal plane, and application still belongs to the first time in nuclear magnetic compatible operation tool hands.
The two-freedom rotary head has realized large-scale rotation among the present invention, thereby the attitude that has satisfied needle body is adjusted requirement, the compact conformation of this two-freedom rotary head, and motion combines with the silk transmission flexibly, and advantage is remarkable.
Motor among the present invention is supersonic motor, can accurately control displacement or the rotation amount of each member, greatly improve the degree of accuracy of operative process, thereby overcome the drawback that the untimely and patient body of imaging in the operation process moves rear generation deviation.
Description of drawings
Fig. 1 is the overall structure sketch map that the present invention is based on the Minimally Invasive Surgery acupuncture mechanism of a transmission;
Fig. 2 is the structural representation of U-shaped moving platform shown in Fig. 1 and two-freedom rotary head;
Fig. 3 is the structural representation of U-shaped framework shown in Fig. 2 and hoistable platform;
Fig. 4 is the structural representation of hoistable platform shown in Fig. 2 and two-freedom rotary head;
Fig. 5 is the structural representation of external motor seat shown in Figure 1;
Fig. 6 is acupuncture mechanism axial arrangement cutaway view shown in Figure 1.
Main description of reference numerals among the figure:
A-pedestal silent flatform B-external motor seat C-U type moving platform
D-two-freedom rotary head E-needling structure F-two-degree-of-freedom parallel mechanism
1-supersonic motor A 2-supersonic motor B 3-supersonic motor C
4-supersonic motor D 5-hoistable platform 6-connecting rod A
7-connecting rod B 8-nut 9-leading screw
10-U type framework 11-universal wheel 12-axle head
The horizontal rotating shaft of 13-nut 14-bracing ring 15-
The vertical rotating shaft 17 of 16-, 18,19- shaft coupling 20,21,22-be the silk wheel initiatively
23,24-is by movable wire wheel 25,26-driving wire 27-needle body
28-external screw thread nut 29-female thread leading screw 30-wears an aperture
31-plastic bearing 32-sliding sleeve 33-barrel susceptor
34-spiral type wire casing 35-needle body connecting rod
The specific embodiment
The present invention is under magnetic nuclear resonance environment, adopt a kind of Minimally Invasive Surgery acupuncture mechanism based on the silk transmission of silk drive mechanism transferring power, by pedestal silent flatform A, external motor seat B, U-shaped moving platform C, two-freedom rotary head D, six major parts of needling structure E and two-degree-of-freedom parallel mechanism F consist of, wherein, before operation, adjust in advance and set the vertical height of U-shaped moving platform C according to different surgical environments, supersonic motor by five nuclear-magnetism compatibilities in operation process drives, to realize five degree of freedom of needle body.
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.
As shown in Figure 1, the concrete structure of a kind of Minimally Invasive Surgery acupuncture mechanism based on the silk transmission of the present invention is, comprise pedestal silent flatform A and external motor seat B, the front portion of described pedestal silent flatform A is provided with U-shaped moving platform C, described U-shaped moving platform C is provided with a two-freedom rotary head D, and described two-freedom rotary head D is provided with needling structure E; The rear portion of described pedestal silent flatform A is fixed with the two-degree-of-freedom parallel mechanism F of the described U-shaped moving platform C of control.
As shown in Figure 1, described two-degree-of-freedom parallel mechanism F comprises the parallelogram linkage that two covers are connected with top, the U-shaped moving platform C left and right sides respectively, and described parallelogram linkage is connected with a lead screw transmission structure A; Described parallelogram linkage is by consisting of with hinged connecting rod A, nut 8, the connecting rod B among the lead screw transmission structure A of described U-shaped moving platform C successively; Two nuts 8 on two rhizoid thick sticks 9 among the two cover leading screw drive mechanism A, the leading screw 9 and the six-bar mechanism that has consisted of a two-freedom with the hinged two groups of parallelogram levers linkages of nut and U-shaped moving platform.Two rhizoid thick sticks 9 respectively by two independently supersonic motor A1 directly drive, the moving forward and backward of two nuts 8 about the rotarily driving of two leading screws 9, thus parallelogram linkage limited U-shaped moving platform can only be in horizontal plane translation and can not rotating.
As shown in Figure 2, described U-shaped moving platform C comprises U-shaped framework, the bottom of described U-shaped framework 10 is provided with universal wheel 11, described U-shaped framework internal orifice place is provided with hoistable platform 5, be respectively equipped with a lead screw transmission structure B between two pillars of described hoistable platform 5 and U-shaped framework 10, the axle head 12 of the leading screw bottom among the described lead screw transmission structure B stretches out from the bottom of U-shaped framework 10 pillars, and the bottom of leading screw is higher than the bottom of described universal wheel 11 among the described lead screw transmission structure B, as shown in Figure 3; Described hoistable platform 5 is the U font, nut among the described lead screw transmission structure B 13 be connected with the two ends at hoistable platform 5 tops (being nut 13 shown in the figure be structure as a whole with the otic placode at hoistable platform 5 two ends).Two rhizoid thick sticks in the U-shaped moving platform C are different from the leading screw 9 of above-mentioned two-degree-of-freedom parallel mechanism, and the two rhizoid thick sticks 9 of U-shaped moving platform C are regulated by operator.The axle head 12 of operator rotating threaded shaft bottom before operation is realized moving up and down of hoistable platform 5, thereby adapts to different type of surgery and patient's height, and remains unchanged in operation process.The universal wheel 11 that U-shaped moving platform 13 bottoms arrange can reduce the friction in the U-shaped moving platform C translation process, plays simultaneously the effect of supported weight.The translation of U-shaped moving platform C in horizontal plane and the space three degree of freedom that moves up and down realization needle body front, back, left, right, up, down of hoistable platform 5, thereby location, implementation space.
As shown in Figure 4, described two-freedom rotary head D comprises the bracing ring 14 that is arranged on the described hoistable platform 5, described bracing ring 14 is provided with horizontal rotating shaft 15 and vertically rotating shaft 16, and the central shaft of described horizontal rotating shaft 15, described needling structure and described vertical rotating shaft 16 overlap with X-axis, Y-axis and the Z axis of rectangular coordinate system respectively; The rotation of described horizontal rotating shaft 15 and vertically rotating shaft 16 is driven by silk drive mechanism A and silk drive mechanism B respectively; Described silk drive mechanism A and silk drive mechanism B are driven by supersonic motor B2 and supersonic motor C3 respectively; Between the active silk wheel 20 of described supersonic motor B2 and described silk drive mechanism A, described supersonic motor C3 is provided with shaft coupling 17 (18) between taking turns 21 with the active silk of described silk drive mechanism B respectively; Described silk drive mechanism A's is coaxial with described horizontal rotating shaft 15 by movable wire wheel 23, and being taken turns by movable wire of described silk drive mechanism B is 24 coaxial with described vertical rotating shaft 16.Two-freedom rotary head D realizes the attitude regulation of needling structure, laterally rotating shaft 15 is with vertically rotating shaft 16 is mutually vertical, and by a silk drive mechanism (as shown in Figure 4 and Figure 5, supersonic motor B2-shaft coupling 17-active silk wheel 20-driving wire 25-by movable wire wheel 23-horizontal rotating shaft 15; Supersonic motor C3-shaft coupling 18-active silk wheel 21-driving wire 26-by movable wire wheel 24-vertically rotating shaft 16) drive.
As depicted in figs. 1 and 2, comprise the needle body 27 that overlaps with the central shaft of needling structure in the described needling structure, described needle body 27 drives it by silk drive mechanism C and moves along y-axis shift.As shown in Figure 6, described needling structure comprises barrel susceptor 33, and described barrel susceptor 33 interior front portions are provided with the lead screw transmission structure C, and leading screw wherein is female thread leading screw 29, and described female thread leading screw 29 is combined with an external screw thread nut 28; Described barrel susceptor 33 interior rear portions are provided with the sliding sleeve 32 that cooperates with axially directed groove; The front end of described needle body 27 stretches out from the front end of barrel susceptor 33, and the rear end of described needle body 27 is connected with a needle body connecting rod 35, and described needle body connecting rod 35 is connected with the centre bore that the centre bore of external screw thread nut 28 is connected with sliding sleeve respectively; The outer surface of revolution of described female thread leading screw 29 is provided with spiral type wire casing 34, be wound with driving wire (among the figure for drawing this driving wire) in the described spiral type wire casing 34, described barrel susceptor 33 is provided with wears an aperture 30, one end of driving wire and female thread leading screw 29 are fixing, the other end of described driving wire is connected with silk wheel 22 initiatively, and described active silk is taken turns 22 and is connected to a supersonic motor D4 by a shaft coupling 19.Itself has used screw-nut body needling structure, and drives the rotation of inner leading screw by the silk transmission, thereby drives external screw thread nut 28 translations that are connected with needle body 27, realizes the acupuncture action.
As shown in Figure 5, the supersonic motor of five nuclear-magnetism compatibilities among the present invention, wherein three, comprise that described supersonic motor B2, supersonic motor C3 and supersonic motor D4 all are located on the described external motor seat B, these three supersonic motors provide power by the silk transmission for laterally rotating shaft, vertical rotating shaft and acupuncture layer respectively, two other, comprise that the supersonic motor A1 in the two-degree-of-freedom parallel mechanism the mode that does not adopt the silk transmission, but directly and the leading screw 9 in the two-degree-of-freedom parallel mechanism link to each other, as shown in Figure 1.
In a word, the described two-degree-of-freedom parallel mechanism among the present invention is realized the translation of described U-shaped moving platform C in horizontal plane, and described hoistable platform is realized moving up and down of described U-shaped moving platform C; Described two-freedom rotary head D realizes the attitude regulation of needling structure central shaft, and described needling structure is realized the acupuncture action.
The working method of a kind of Minimally Invasive Surgery acupuncture mechanism based on the silk transmission of the present invention is as follows:
1. the two-freedom translation in the horizontal plane:
Two supersonic motor A rotations, drive respectively two leading screw 9 rotations among the lead screw transmission structure A1, two nuts 8 that leading screw 9 promotes respectively to go up separately independent of each otherly advance or retreat, and U-shaped moving platform C connects with parallelogram linkage with the nut 8 of being connected among the lead screw transmission structure A.When two each and every one supersonic motor A1 rotated synchronously, it is constant that parallelogram linkage is kept angle, seesaws in horizontal plane thereby promote U-shaped moving platform C; When two supersonic motor A1 asynchronous rotaries, the parallelogram linkage angle changes, thereby promotes U-shaped moving platform C side-to-side movement in horizontal plane, and the so far two-freedom translation in the horizontal plane realizes smoothly.
2. elevating movement:
Form the lead screw transmission structure between hoistable platform 5 and the U-shaped moving platform C, the axle head 12 by handmade rotary leading screw bottom can make hoistable platform 5 move up and down.
3. the rotation of two-freedom:
X-direction is rotated: supersonic motor B2 rotation drives initiatively by shaft coupling 17 that silk wheel 20 rotates, initiatively silk wheel 20 and by between the movable wire wheel 23 by a silk transmission, fixed by movable wire wheel and horizontal rotating shaft, thereby the X-direction that realizes two-freedom rotary head D rotatablely moves.In like manner, the Y-direction of realization two-freedom rotary head D rotatablely moves
4. acupuncture campaign:
The acupuncture campaign is to finish by the needling structure that is fixed on two-freedom rotary head D center.As shown in Figure 6, female thread leading screw 29 is installed in by plastic bearing 31 on the barrel susceptor 33 of needling structure, and the spiral type wire casing 34 that arranges on the female thread leading screw 29 outer surfaces of revolution is used for wrapping wire, drives 29 rotations of female thread leading screw by the silk transmission.The screw thread of female thread leading screw 29 cooperates with external screw thread on one of them external screw thread nut 28, external screw thread nut 28 left ends and needle body 27 chuckings, the right-hand member of external screw thread nut 28 is connected by the sliding sleeve 32 of needle body connecting rod 35 with the rear portion, key on the sliding sleeve 32 cooperates with axially directed groove on barrel susceptor 33 inner surfacies, in order to have prevented 28 rotations of external screw thread nut.When rotating under the drive of female thread leading screw 29 at driving wire, female thread leading screw 29 cooperates with the external screw thread nut, thus with the rotational transform of female thread leading screw 29 for the moving axially of the fixing needle body 27 of internal threaded nut 28, thereby realized the acupuncture campaign.
To sum up, by the rotatory acupuncture motion of the U-shaped moving platform two-freedom of the elevating movement of the translation of direction, vertical direction, rotary head rotation all around, needle body in horizontal plane, finally finish the acupuncture operation process.
Although top invention has been described in conjunction with figure; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; rather than restrictive; those of ordinary skill in the art is under enlightenment of the present invention; in the situation that does not break away from aim of the present invention, can also make a lot of distortion, these all belong within the protection of the present invention.
Claims (4)
1. the Minimally Invasive Surgery acupuncture mechanism based on the silk transmission comprises pedestal silent flatform (A) and external motor seat (B);
It is characterized in that,
The front portion of described pedestal silent flatform (A) is provided with U-shaped moving platform (C), and described U-shaped moving platform (C) is provided with a two-freedom rotary head (D), and described two-freedom rotary head (D) is provided with needling structure (E); The rear portion of described pedestal silent flatform (A) is fixed with the two-degree-of-freedom parallel mechanism (F) of the described U-shaped moving platform of control (C);
Described two-degree-of-freedom parallel mechanism (F) comprises the parallelogram linkage that two covers are connected with U-shaped moving platform (C) top, the left and right sides respectively, and described parallelogram linkage is connected with a lead screw transmission structure A; Described parallelogram linkage is by hinged with described U-shaped moving platform (C) successively connecting rod A, the nut among the lead screw transmission structure A, connecting rod B formation; Leading screw among the described lead screw transmission structure A is driven by supersonic motor A;
Described U-shaped moving platform (C) comprises U-shaped framework, the bottom of described U-shaped framework is provided with universal wheel, described U-shaped framework internal orifice place is provided with hoistable platform, be respectively equipped with a lead screw transmission structure B between two pillars of described hoistable platform and U-shaped framework, the axle head of the leading screw bottom among the described lead screw transmission structure B stretches out from the bottom of U-shaped frame pillar, and the bottom of leading screw is higher than the bottom of described universal wheel among the described lead screw transmission structure B; Described hoistable platform is the U font, and the nut among the described lead screw transmission structure B and the two ends at hoistable platform top are connected;
Described two-freedom rotary head (D) comprises the bracing ring that is arranged on the described hoistable platform, described bracing ring is provided with horizontal rotating shaft and vertically rotating shaft, and the central shaft of described horizontal rotating shaft, described needling structure and described vertical rotating shaft overlap with X-axis, Y-axis and the Z axis of rectangular coordinate system respectively; The rotation of described horizontal rotating shaft and vertically rotating shaft is driven by silk drive mechanism A and silk drive mechanism B respectively; Comprise the needle body that overlaps with the central shaft of needling structure in the described needling structure, described needle body drives it by silk drive mechanism C and moves along y-axis shift;
Described two-degree-of-freedom parallel mechanism is realized the translation of described U-shaped moving platform (C) in horizontal plane, and described hoistable platform is realized moving up and down of described U-shaped moving platform (C); Described two-freedom rotary head (D) realizes the attitude regulation of needling structure central shaft, and described needling structure is realized the acupuncture action.
2. described Minimally Invasive Surgery acupuncture mechanism based on the silk transmission according to claim 1 is characterized in that, described silk drive mechanism A and silk drive mechanism B are driven by supersonic motor B and supersonic motor C respectively; Between the active silk wheel of described supersonic motor B and described silk drive mechanism A, described supersonic motor C is provided with shaft coupling between taking turns with the active silk of described silk drive mechanism B respectively; Described silk drive mechanism A's is coaxial with described horizontal rotating shaft by the movable wire wheel, and described silk drive mechanism B's is coaxial with described vertical rotating shaft by the movable wire wheel.
3. described Minimally Invasive Surgery acupuncture mechanism based on the silk transmission according to claim 2, it is characterized in that described needling structure comprises barrel susceptor, the front portion is provided with the lead screw transmission structure C in the described barrel susceptor, leading screw wherein is the female thread leading screw, and described female thread leading screw is combined with an external screw thread nut; The rear portion is provided with the sliding sleeve that cooperates with axially directed groove in the described barrel susceptor; The front end of described needle body stretches out from the front end of barrel susceptor, and the rear end of described needle body is connected with a needle body connecting rod, and described needle body connecting rod is connected centre bore with the centre bore of external screw thread nut respectively and is connected with sliding sleeve; The outer surface of revolution of described female thread leading screw is provided with the spiral type wire casing, be wound with driving wire in the described spiral type wire casing, described barrel susceptor is provided with wears an aperture, one end and the female thread leading screw of driving wire are fixed, the other end of described driving wire is connected with an active silk wheel, and described active silk wheel is connected to a supersonic motor D by a shaft coupling.
4. described Minimally Invasive Surgery acupuncture mechanism based on the silk transmission according to claim 3 is characterized in that described supersonic motor B, supersonic motor C and supersonic motor D all are located on the described external motor seat (B).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210395155.0A CN102908175B (en) | 2012-10-17 | 2012-10-17 | Minimally invasive surgery prickling mechanism based on cable driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210395155.0A CN102908175B (en) | 2012-10-17 | 2012-10-17 | Minimally invasive surgery prickling mechanism based on cable driving |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102908175A true CN102908175A (en) | 2013-02-06 |
| CN102908175B CN102908175B (en) | 2014-10-15 |
Family
ID=47606924
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210395155.0A Expired - Fee Related CN102908175B (en) | 2012-10-17 | 2012-10-17 | Minimally invasive surgery prickling mechanism based on cable driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102908175B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104623797A (en) * | 2015-02-16 | 2015-05-20 | 天津大学 | Near-distance image navigation full-automatic radioactive particle implanting device |
| CN105193478A (en) * | 2015-10-20 | 2015-12-30 | 天津大学 | Puncture device with RCM (remote center of motion) based on wire driving |
| CN107090638A (en) * | 2017-06-27 | 2017-08-25 | 江苏新科达滤袋有限公司 | A kind of beaming appliance for being used to produce Nomex |
| CN107243110A (en) * | 2017-05-16 | 2017-10-13 | 哈尔滨理工大学 | A kind of minimally invasive intervention acupuncture mechanism navigated based on ultrasonoscopy |
| CN109481034A (en) * | 2018-12-18 | 2019-03-19 | 王菲 | Needle seeking device for operating room |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007064937A1 (en) * | 2005-12-02 | 2007-06-07 | University Of Rochester | Image-guided therapy delivery and diagnostic needle system |
| CN101791451A (en) * | 2010-04-01 | 2010-08-04 | 天津大学 | Acupuncture manipulator mechanism for applying to magnetic nuclear resonance environment |
| WO2011057260A2 (en) * | 2009-11-09 | 2011-05-12 | Worcester Polytechnic Institute | Apparatus and methods for mri-compatible haptic interface |
| CN102113905A (en) * | 2011-01-25 | 2011-07-06 | 天津大学 | Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment |
-
2012
- 2012-10-17 CN CN201210395155.0A patent/CN102908175B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007064937A1 (en) * | 2005-12-02 | 2007-06-07 | University Of Rochester | Image-guided therapy delivery and diagnostic needle system |
| WO2011057260A2 (en) * | 2009-11-09 | 2011-05-12 | Worcester Polytechnic Institute | Apparatus and methods for mri-compatible haptic interface |
| CN101791451A (en) * | 2010-04-01 | 2010-08-04 | 天津大学 | Acupuncture manipulator mechanism for applying to magnetic nuclear resonance environment |
| CN102113905A (en) * | 2011-01-25 | 2011-07-06 | 天津大学 | Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104623797A (en) * | 2015-02-16 | 2015-05-20 | 天津大学 | Near-distance image navigation full-automatic radioactive particle implanting device |
| CN105193478A (en) * | 2015-10-20 | 2015-12-30 | 天津大学 | Puncture device with RCM (remote center of motion) based on wire driving |
| CN105193478B (en) * | 2015-10-20 | 2017-07-07 | 天津大学 | The sting device with distal movement center based on silk transmission |
| CN107243110A (en) * | 2017-05-16 | 2017-10-13 | 哈尔滨理工大学 | A kind of minimally invasive intervention acupuncture mechanism navigated based on ultrasonoscopy |
| CN107090638A (en) * | 2017-06-27 | 2017-08-25 | 江苏新科达滤袋有限公司 | A kind of beaming appliance for being used to produce Nomex |
| CN109481034A (en) * | 2018-12-18 | 2019-03-19 | 王菲 | Needle seeking device for operating room |
| CN109481034B (en) * | 2018-12-18 | 2022-08-23 | 中国人民解放军第四军医大学 | Operating room needle searching device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102908175B (en) | 2014-10-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102908175B (en) | Minimally invasive surgery prickling mechanism based on cable driving | |
| CN109771811B (en) | Parallel robot for implanting particles into prostate flexible needle | |
| CN102921099B (en) | Short-distance particle implantation robot based on ultrasonic image navigation | |
| EP2887903A1 (en) | Robotic device and systems for image-guided and robot-assisted surgery | |
| CN107789059A (en) | A kind of minimally invasive abdominal operation robot | |
| CN105640648A (en) | Pose mechanical-adjusting movable platform | |
| CN105727431A (en) | TRUS image navigation multichannel prostate close-range radioactive seed implantation robot | |
| CN1537657A (en) | Radiotherapeutic apparatus in operation | |
| WO2013060220A1 (en) | 4d stereo positioning radiation therapy device | |
| CN105434048A (en) | Orthopaedic surgery robot based on non-invasive type real-time surgery positioning navigation device | |
| CN106110517A (en) | A kind of Medical robot for tumor radiotherapy | |
| CN114209400A (en) | Ultrasound image navigation prostate puncture surgical robot | |
| CN102499726A (en) | Close-distance minimally-invasive manipulator mechanism for nuclear magnetic resonance imaging environment | |
| CN219846713U (en) | Composite needle head, needle mechanism and hair follicle extraction device | |
| CN105534597A (en) | Friction wheel TRUS image navigation driving device and method | |
| CN111888010A (en) | Mammary tissue fixing device based on ultrasonic guidance and control method thereof | |
| CN114469284B (en) | Four-freedom-degree puncture needle positioning and guiding device | |
| CN104225807A (en) | Stereotactic radiotherapy device and implementation method thereof | |
| CN104147689A (en) | Mechanism for breast puncture operation under nuclear magnetic image navigation | |
| CN114424967B (en) | Four-freedom puncture needle positioning and guiding device with orthogonal structure | |
| CN114431940B (en) | Four-degree-of-freedom puncture needle positioning and guiding device based on RCM structure | |
| CN106308826A (en) | C type arm of C-arm X-ray machine | |
| CN205697813U (en) | Multiple degrees of freedom cone-beam CT imaging system | |
| CN115607288A (en) | Minimally invasive surgery robot compatible with MRI and CT environments | |
| CN105345812A (en) | Spatial translational parallel mechanism capable of realizing partial decoupling |
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 |
Granted publication date: 20141015 Termination date: 20211017 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |