CN103417303A - Nuclear magnetism compatibility surgical robot based on screw drive - Google Patents
Nuclear magnetism compatibility surgical robot based on screw drive Download PDFInfo
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- CN103417303A CN103417303A CN2013103606292A CN201310360629A CN103417303A CN 103417303 A CN103417303 A CN 103417303A CN 2013103606292 A CN2013103606292 A CN 2013103606292A CN 201310360629 A CN201310360629 A CN 201310360629A CN 103417303 A CN103417303 A CN 103417303A
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Abstract
The invention discloses a nuclear magnetism compatibility surgical robot based on screw drive. The nuclear magnetism compatibility surgical robot based on screw drive comprises a base, a lifting part, a deflection part and a needling part, wherein the needling part is arranged on the deflection part; the deflection part is arranged on the lifting part; the lifting part is arranged on the base; the needling part, the deflection part and the lifting part respectively adopt a screw drive structure. According to the nuclear magnetism compatibility surgical robot based on screw drive, the selectable range of drive of a robot is greatly expanded, common motor drive which cannot be selected in the existing mechanism can be applied in the screw transmission structure, and a common motor can more easily realize high-accuracy control and output variable torque; screw drive has favorable linearity, can effectively overcome delaying phenomenon in pneumatic drive, and provides conditions for improving the accuracy of needing surgery; in addition, due to the screw drive, a drive component is arranged outside a mechanism body, so that the mechanism body is more compact in design, and the problem of limited surgery space under a nuclear magnetism environment is effectively solved.
Description
Technical field
The present invention relates to accurate medical instruments field, belong to the mechanical front subject, the particularly acupuncture manipulator mechanism under magnetic nuclear resonance environment by the silk transmission application intersected with medical science.
Background technology
Current, utilize the radiation of Wicresoft close-range particle to carry out the mode of operation on prostate progressively ripe.In radiotherapy, often need the doctor to utilize the method for acupuncture, manually radioactive particle implanted to focus, however due to this by the manually operated unstability of doctor, have a strong impact on the success rate of operation.Develop now the acupuncture operation robot under a kind of image-guidance, become the study hotspot of domestic and international medical instruments field.
Because NMR (Nuclear Magnetic Resonance)-imaging (MRI) can provide multi-faceted, multiparameter information, and there are higher soft tissue resolution characteristics, under the MRI guiding, system can show the three-dimensional space position of soft tissue to be performed the operation and operating theater instruments in real time, thereby produce many favourable surgical conditions, so the operating robot under current NMR (Nuclear Magnetic Resonance)-imaging (MRI) has become the primary study object of domestic and international many research institutions.They have also invented multiple different operating robot mechanism, in order to realize under the nuclear-magnetism environment neither affecting the NMR (Nuclear Magnetic Resonance) imaging effect, can realize again the acupuncture course of degree of precision, so generally adopt the pneumatic or compatible motor drive mode of nuclear-magnetism.Pneumatic actuation has hysteresis and the shortcoming such as non-linear; The compatible Motor torque of nuclear-magnetism is usually too little, can not meet robot power requirement.Through consulting various data, the advantage such as the type of drive of finding the silk transmission has that precision is high, the linear good and moment of torsion of transmission is adjustable.
Summary of the invention
The present invention provides a kind of nuclear magnetic compatible operation device people based on the silk transmission for solving the technical problem existed in known technology, and this robot has advantages of that precision is high, transmission is linear good and moment of torsion is adjustable.
The technical scheme that the present invention takes for the technical problem existed in the solution known technology is: a kind of nuclear magnetic compatible operation device people based on the silk transmission, it is characterized in that, and comprise base, lifting part, deflector and acupuncture part; Described acupuncture partly is arranged on described deflector, and described deflector is arranged on described lifting and partly goes up, and described lifting partly is arranged on described base; Described acupuncture part, described deflector and described lifting part all adopt the silk drive mechanism.
Described lifting is partly the left-right symmetric structure, comprising symmetrical front slide base plate, rear sliding floor, front fixed base plate and rear fixed base plate, and the left side structure of described lifting part comprises the lifting constraining rod set gradually from top to bottom, front lifting arm, rear lifting arm, frong guide column and BB1; The front end of described lifting constraining rod is connected with the upper end of described front lifting arm by connecting rod, the left end of the lower end of described front lifting arm and described front slide base plate is affixed, described front slide base plate and described frong guide column are slidably connected, the upper end of described frong guide column and the left-front corner of top board are affixed, and the lower end of described frong guide column and the left end of described front fixed base plate are affixed; The upper end of the rear end of described lifting constraining rod and described rear lifting arm is hinged, the lower end of described rear lifting arm and the left end of described rear sliding floor are affixed, described rear sliding floor and described BB1 are slidably connected, the upper end of described BB1 and the left rear corner of described top board are affixed, and the lower end of described BB1 and the left end of described rear fixed base plate are affixed; The middle part of described front slide base plate is connected with front lifting threads of lead screw, the lower end of described front lifting leading screw by bearings on described base, the upper end of described front lifting leading screw by bearings on described top board, the middle part of described rear sliding floor is connected with rear lifting threads of lead screw, the lower end of described rear lifting leading screw by bearings on described base, the upper end of described rear lifting leading screw on described top board, all is wound with the lifting driving wire by bearings on described front lifting leading screw and described rear lifting leading screw.
Described deflector comprises front deflection mechanism, post deflection mechanism and tilt platform; Described front deflection mechanism and post deflection mechanism are equipped with the deflection wire drive mechanism; Described deflection wire drive mechanism comprises and is supported on two deflection leading screws between described lifting constraining rod, described deflection leading screw is provided with the leading truck be rotationally connected with it, described leading truck is provided with the screw gathering sill, be provided with the deflection screw be slidably connected with it in described screw gathering sill, described deflection wire box thread is connected on described deflection leading screw, on described deflection leading screw, is wound with the deflection driving wire;
Described front deflection mechanism also comprises the suspension rod of the deflection screw below that is fixed on corresponding described deflection wire drive mechanism, and described suspension rod is provided with the bearing pin affixed with it, and described bearing pin is provided with the hinged casing be rotationally connected with it;
Described post deflection mechanism also comprises the hanging box of the deflection screw below that is fixed on corresponding described deflection wire drive mechanism, the inboard two ends of the lower frame of described hanging box are provided with two isometric deflection connecting rods that are rotationally connected with it, the outer end of two described deflection connecting rods is provided with the deflection constraining rod be rotationally connected with it, the lower frame of described hanging box, two isometric described deflection connecting rods and a described deflection constraining rod form a parallelogram sturcutre, be provided with a tilt platform between described hinged casing and described constraining rod, the front end of described tilt platform and described hinged casing are affixed, the middle part of the rear end of described tilt platform and described deflection constraining rod is hinged.
Described acupuncture partly comprises two bracing frames that are fixed in respectively described tilt platform two ends, be supported with the acupuncture leading screw between two support frames as described above, described acupuncture leading screw is provided with the acupuncture screw be threaded with it, the upper end of described acupuncture screw is provided with the slide block of evagination, the gathering sill at described slide block and guide plate middle part is slidably connected, the two ends of described guide plate are fixed in respectively on two support frames as described above, be wound with the acupuncture driving wire on described acupuncture leading screw, be connected with puncture needle on described acupuncture screw, described puncture needle crosses by described suspension rod.
Advantage and good effect that the present invention has are: in actual application, the optional scope of driving of robot has been expanded in the silk transmission greatly, the common electric machine that can not select in existing mechanism drives and can be applied in the silk drive mechanism, and common electric machine more easily realizes that high accuracy is controlled and the output variable torque; With selecting pneumatic actuation in existing mechanism, compare, the silk transmission linearity is good, has effectively overcome the hysteresis phenomenon in the pneumatic actuation, also for the precision that improves acupuncture operation, provides condition; In addition, the silk transmission is placed in driving element outside mechanism body, makes the mechanism body design more compact, efficiently solves the problem of nuclear magnetic resonance spectrometer environment menisectomy limited space.
The accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is lifting part-structure schematic diagram of the present invention;
Fig. 3 is deflector structural representation of the present invention;
Fig. 4 is the structural representation that suspension rod of the present invention is connected with hinged casing;
Fig. 5 is acupuncture part-structure schematic diagram of the present invention.
In figure: 1, base, 2, rear fixed base plate, 3, fixing head, 4, front fixed base plate, 5, frong guide column, 6, BB1, 7, front lifting leading screw, 8, rear lifting leading screw, 9, the front slide base plate, 10, front lifting arm, 11, rear sliding floor, 12, rear lifting arm, 13, top board, 14, connecting rod, 15, the lifting constraining rod, 16, first guide pin bushing, 17, front deflection mechanism, 18, post deflection mechanism, 19, tilt platform, 20, the deflection leading screw, 21, leading truck, 22, the deflection screw, 23, second guide pin bushing, 24, suspension rod, 25, hinged casing, 26, bearing pin, 27, hanging box, 28, the deflection connecting rod, 29, the deflection constraining rod, 30, bracing frame, 31, the acupuncture leading screw, 32, the acupuncture screw, 33, guide plate, 34, the 3rd guide pin bushing, 35, puncture needle.
The specific embodiment
For further understanding summary of the invention of the present invention, Characteristic, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
Refer to Fig. 1～Fig. 5, a kind of nuclear magnetic compatible operation device people based on the silk transmission, comprise base 1, lifting part, deflector and acupuncture part; Described acupuncture partly is arranged on described deflector, and described deflector is arranged on described lifting and partly goes up, and described lifting partly is arranged on described base; Described acupuncture part, described deflector and described lifting part all adopt the silk drive mechanism.
In the present embodiment, above-mentioned lifting is partly the left-right symmetric structure, comprising symmetrical front slide base plate 9, rear sliding floor 11, front fixed base plate 4 and rear fixed base plate 2, and the left side structure of described lifting part comprises the lifting constraining rod 15 set gradually from top to bottom, front lifting arm 10, rear lifting arm 12, frong guide column 5 and BB1 6, the front end of lifting constraining rod 15 is connected with the upper end of front lifting arm 10 by connecting rod 14, the left end of the lower end of described front lifting arm 10 and front slide base plate 9 is affixed, front slide base plate 9 is slidably connected with frong guide column 5, the left-front corner of the upper end of frong guide column 5 and top board 13 is affixed, and the left end of the lower end of frong guide column 5 and front fixed base plate 4 is affixed, the upper end of the rear end of lifting constraining rod 15 and rear lifting arm 12 is hinged, the left end of the lower end of described rear lifting arm 12 and rear sliding floor 11 is affixed, rear sliding floor 11 is slidably connected with BB1 6, the left rear corner of the upper end of BB1 6 and top board 13 is affixed, and the left end of the lower end of BB1 6 and rear fixed base plate 2 is affixed, the middle part of front slide base plate 9 is threaded with front lifting leading screw 7, the lower end of front lifting leading screw 7 by bearings on base 1, the upper end of front lifting leading screw 7 by bearings on top board 13, the middle part of rear sliding floor 11 is threaded with rear lifting leading screw 8, the lower end of rear lifting leading screw 8 by bearings on base 1, the upper end of rear lifting leading screw 8 by bearings on top board 13, all be wound with the lifting driving wire on front lifting leading screw 7 and rear lifting leading screw 8, the lifting driving wire is installed in first guide pin bushing 16, first guide pin bushing 16 is fixed on fixing head 3, one end and the lifting constraining rod 15 of above-mentioned connecting rod 14 are hinged, the other end and front lifting arm 10 are hinged.
In the present embodiment, above-mentioned deflector comprises front deflection mechanism 17, post deflection mechanism 18 and tilt platform 19.Described front deflection mechanism 17 and post deflection mechanism 18 are equipped with the deflection wire drive mechanism, described deflection wire drive mechanism comprises the deflection leading screw 20 be supported between two lifting constraining rods 15, described deflection leading screw 20 is provided with the leading truck 21 be rotationally connected with it, described leading truck 21 is provided with the screw gathering sill, be provided with the deflection screw 22 be slidably connected with it in the screw gathering sill, described deflection screw 22 is threaded on deflection leading screw 20, be wound with the deflection driving wire on described deflection leading screw 20, described deflection driving wire is installed in second guide pin bushing 23, second guide pin bushing 23 is fixed on leading truck 21.Described front deflection mechanism 17 also comprises the suspension rod 24 of deflection screw 22 belows that are fixed on corresponding described deflection wire drive mechanism, and described suspension rod 24 lower ends are provided with the bearing pin affixed with it 26, and described bearing pin 26 is provided with the hinged casing 25 be rotationally connected with it; Described post deflection mechanism 18 also comprises the hanging box 27 of deflection screw 22 belows that are fixed on corresponding described deflection wire drive mechanism, the inboard two ends of the lower frame of described hanging box 27 are provided with two isometric deflection connecting rods 28 that are rotationally connected with it, the outer end of two described deflection connecting rods 28 is provided with the deflection constraining rod 29 be rotationally connected with it, the lower frame of described hanging box 27, two isometric described deflection connecting rods 28 and a deflection constraining rod 29 form a parallelogram sturcutre, for compensating the degree of freedom of deflector.Be provided with a tilt platform 19 between the deflection constraining rod 29 of the hinged casing 25 of described front deflection mechanism 17 and described post deflection mechanism 18, the hinged casing 25 of the front end of tilt platform 19 and described front deflection mechanism 17 is affixed, and the middle part of the deflection constraining rod 29 of the rear end of tilt platform 19 and described post deflection mechanism 18 is hinged.
In the present embodiment, above-mentioned acupuncture partly comprises two bracing frames 30 that are fixed in respectively tilt platform 19 two ends, be supported with acupuncture leading screw 31 between two support frames as described above 30, acupuncture leading screw 31 is provided with the acupuncture screw 32 be threaded with it, the upper end of acupuncture screw 32 is provided with the slide block of evagination, the gathering sill at described slide block and guide plate 33 middle parts is slidably connected, the two ends of described guide plate 33 are fixed in respectively on two bracing frames 30, be wound with the acupuncture driving wire on acupuncture leading screw 31, the acupuncture driving wire is installed in the 3rd guide pin bushing 34, the 3rd guide pin bushing 34 is fixed on guide plate 33, be connected with puncture needle 35 on described acupuncture screw 32, described puncture needle 35 crosses by described suspension rod 24.
Operation principle of the present invention:
Before operation, first this operating robot is put between patient's two lower limbs.As Fig. 1, an end of this number in the figure 27 is the robot front end, and front end will be over against focus in operation.In operation, the direction adjustment of should first being punctured before inserting needle.Obtain patient part information from corresponding operation image-guidance system, and carry out in real time corresponding robot pose adjustment, adjust and be divided into both direction, the deflection angle of the adjustment of the angle of pitch up and down of vertical direction and horizontal direction is adjusted.
Wherein the adjustment of the angle of pitch up and down of vertical direction comprises the adjustment of two degree of freedom, and the adjustment of these two degree of freedom relies on lifting partly to complete.As Fig. 2, two remote motors drive respectively front lifting leading screw 7 and 8 rotations of rear lifting leading screw by the lifting driving wire in first guide pin bushing 16, the rotation of front lifting leading screw 7 and rear lifting leading screw 8 is by the transmission of screw pair and the guiding of guide pillar 5,6, drive respectively front slide base plate 9 and the translation Shang Xia 11 of rear sliding floor, the front lifting arm 10 and the rear lifting arm 12 that are fixed on sliding floor also will be distinguished upper and lower translation, simultaneously, the lifting constraining rod 15 be rotationally connected with rear lifting arm 12 and connecting rod 14 will be realized upper and lower translation or elevating movement.When two synchronized in the same way rotations of remote motor, by above-mentioned transmission process, lifting constraining rod 15 will be realized upper and lower translation, otherwise lifting constraining rod 15 will be realized upper and lower elevating movement.As Fig. 3, because described deflector integral body is rotationally connected with the two ends formation of lifting lifting constraining rod 15 partly respectively by front deflection mechanism 17 and post deflection mechanism 18, so the deflector integrated support is in lifting part top, to realize upper and lower translation or upper and lower pitching with lifting constraining rod 15, reach the purpose of adjusting the upper and lower angle of pitch of vertical direction.
The attitude adjustment of horizontal direction also comprises the adjustment of two degree of freedom, the adjustment of these two degree of freedom relies on deflector to realize, as Fig. 3, two remote motors drive respectively deflection leading screw 20 rotations in front deflection mechanism 17 and post deflection mechanism 18 by the deflection driving wire in second guide pin bushing 23, the rotation of deflection leading screw 20 is again by the transmission of screw pair and the guiding of leading truck 21, drive the 22 left and right translations of deflection screw, suspension rod 24 and the hanging box 27 in post deflection mechanism in front deflection mechanism 17 also will realize respectively the left and right translation, left and right translation along with described suspension rod 24 and hanging box 27, tilt platform 19 will be realized left and right translation or deflection.When two synchronized in the same way rotations of remote motor, by above-mentioned transmission process, tilt platform 19 will be realized the left and right translation, otherwise tilt platform 19 will be realized deflection, thereby reach the purpose of adjusting horizontal direction deflection angle.
After attitude is adjusted, the inserting needle that punctured, realize the 5th degree of freedom.As Fig. 5, puncture needle 35 with the medical radioactive particle is fixed on acupuncture screw 32, and lean out from the robot front end by the aperture on Fig. 4 middle hanger 24, a remote motor drives acupuncture leading screw 31 by the acupuncture driving wire in the 3rd guide pin bushing 34 and rotates, acupuncture leading screw 31 rotates again by the transmission of screw pair and the guiding of guide plate 33, the puncture needle 35 front and back translations that drive acupuncture screw 32 and be mounted thereon, thus realize puncture inserting needle or the withdraw of the needle to focus.
Although the above is described the preferred embodiments of the present invention by reference to the accompanying drawings; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; not breaking away from the scope situation that aim of the present invention and claim protects, can also make a lot of forms, within these all belong to protection scope of the present invention.
Claims (4)
1. the nuclear magnetic compatible operation device people based on the silk transmission, is characterized in that, comprises base, lifting part, deflector and acupuncture part; Described acupuncture partly is arranged on described deflector, and described deflector is arranged on described lifting and partly goes up, and described lifting partly is arranged on described base; Described acupuncture part, described deflector and described lifting part all adopt the silk drive mechanism.
2. the nuclear magnetic compatible operation device people based on the silk transmission according to claim 1, it is characterized in that, described lifting is partly the left-right symmetric structure, comprising symmetrical front slide base plate, rear sliding floor, front fixed base plate and rear fixed base plate, and the left side structure of described lifting part comprises the lifting constraining rod set gradually from top to bottom, front lifting arm, rear lifting arm, frong guide column and BB1; The front end of described lifting constraining rod is connected with the upper end of described front lifting arm by connecting rod, the left end of the lower end of described front lifting arm and described front slide base plate is affixed, described front slide base plate and described frong guide column are slidably connected, the upper end of described frong guide column and the left-front corner of top board are affixed, and the lower end of described frong guide column and the left end of described front fixed base plate are affixed; The upper end of the rear end of described lifting constraining rod and described rear lifting arm is hinged, the lower end of described rear lifting arm and the left end of described rear sliding floor are affixed, described rear sliding floor and described BB1 are slidably connected, the upper end of described BB1 and the left rear corner of described top board are affixed, and the lower end of described BB1 and the left end of described rear fixed base plate are affixed; The middle part of described front slide base plate is connected with front lifting threads of lead screw, the lower end of described front lifting leading screw by bearings on described base, the upper end of described front lifting leading screw by bearings on described top board, the middle part of described rear sliding floor is connected with rear lifting threads of lead screw, the lower end of described rear lifting leading screw by bearings on described base, the upper end of described rear lifting leading screw on described top board, all is wound with the lifting driving wire by bearings on described front lifting leading screw and described rear lifting leading screw.
3. the nuclear magnetic compatible operation device people based on the silk transmission according to claim 2, is characterized in that, described deflector comprises front deflection mechanism, post deflection mechanism and tilt platform; Described front deflection mechanism and post deflection mechanism are equipped with the deflection wire drive mechanism; Described deflection wire drive mechanism comprises and is supported on two deflection leading screws between described lifting constraining rod, described deflection leading screw is provided with the leading truck be rotationally connected with it, described leading truck is provided with the screw gathering sill, be provided with the deflection screw be slidably connected with it in described screw gathering sill, described deflection wire box thread is connected on described deflection leading screw, on described deflection leading screw, is wound with the deflection driving wire;
Described front deflection mechanism also comprises the suspension rod of the deflection screw below that is fixed on corresponding described deflection wire drive mechanism, and described suspension rod is provided with the bearing pin affixed with it, and described bearing pin is provided with the hinged casing be rotationally connected with it;
Described post deflection mechanism also comprises the hanging box of the deflection screw below that is fixed on corresponding described deflection wire drive mechanism, the inboard two ends of the lower frame of described hanging box are provided with two isometric deflection connecting rods that are rotationally connected with it, the outer end of two described deflection connecting rods is provided with the deflection constraining rod be rotationally connected with it, the lower frame of described hanging box, two isometric described deflection connecting rods and a described deflection constraining rod form a parallelogram sturcutre, be provided with a tilt platform between described hinged casing and described constraining rod, the front end of described tilt platform and described hinged casing are affixed, the middle part of the rear end of described tilt platform and described deflection constraining rod is hinged.
4. the nuclear magnetic compatible operation device people based on the silk transmission according to claim 3, it is characterized in that, described acupuncture partly comprises two bracing frames that are fixed in respectively described tilt platform two ends, be supported with the acupuncture leading screw between two support frames as described above, described acupuncture leading screw is provided with the acupuncture screw be threaded with it, the upper end of described acupuncture screw is provided with the slide block of evagination, the gathering sill at described slide block and guide plate middle part is slidably connected, the two ends of described guide plate are fixed in respectively on two support frames as described above, be wound with the acupuncture driving wire on described acupuncture leading screw, be connected with puncture needle on described acupuncture screw, described puncture needle crosses by described suspension rod.
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| CN201310360629.2A CN103417303B (en) | 2013-08-16 | 2013-08-16 | Based on the nuclear magnetism compatibility surgical robot of silk transmission |
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| CN201310360629.2A CN103417303B (en) | 2013-08-16 | 2013-08-16 | Based on the nuclear magnetism compatibility surgical robot of silk transmission |
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| CN103876786A (en) * | 2014-04-13 | 2014-06-25 | 哈尔滨理工大学 | Mammary gland intervening robot compatible with nuclear magnetic resonance |
| CN104147689A (en) * | 2014-03-24 | 2014-11-19 | 天津大学 | Mechanism for breast puncture operation under nuclear magnetic image navigation |
| CN104288904A (en) * | 2014-11-07 | 2015-01-21 | 北京大学深圳医院 | Radioactive particle implantation equipment |
| CN104623797A (en) * | 2015-02-16 | 2015-05-20 | 天津大学 | Near-distance image navigation full-automatic radioactive particle implanting device |
| CN104622575A (en) * | 2014-12-29 | 2015-05-20 | 天津大学 | Main operation hand for minimally invasive neurosurgery robot on basis of wire rope gearing |
| CN104739512A (en) * | 2015-02-28 | 2015-07-01 | 天津大学 | Thoracocentesis surgical robot based on CT or MRI image navigation |
| CN104825231A (en) * | 2015-04-30 | 2015-08-12 | 中国科学技术大学先进技术研究院 | Magnetic-resonance guided breast cancer minimally invasive interventional operation robot and control method thereof |
| CN107625543A (en) * | 2017-06-02 | 2018-01-26 | 北京邮电大学 | The flexible intervention needle system of magnetic resonance compatible hand-portable |
| WO2019144904A1 (en) * | 2018-01-29 | 2019-08-01 | The University Of Hong Kong | Robotic stereotactic system for mri-guided neurosurgery |
| CN114431940A (en) * | 2022-04-02 | 2022-05-06 | 真健康（北京）医疗科技有限公司 | Four-degree-of-freedom puncture needle positioning and guiding device based on RCM structure |
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| CN104147689A (en) * | 2014-03-24 | 2014-11-19 | 天津大学 | Mechanism for breast puncture operation under nuclear magnetic image navigation |
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| CN104288904A (en) * | 2014-11-07 | 2015-01-21 | 北京大学深圳医院 | Radioactive particle implantation equipment |
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| CN104623797A (en) * | 2015-02-16 | 2015-05-20 | 天津大学 | Near-distance image navigation full-automatic radioactive particle implanting device |
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| CN104825231A (en) * | 2015-04-30 | 2015-08-12 | 中国科学技术大学先进技术研究院 | Magnetic-resonance guided breast cancer minimally invasive interventional operation robot and control method thereof |
| CN107625543A (en) * | 2017-06-02 | 2018-01-26 | 北京邮电大学 | The flexible intervention needle system of magnetic resonance compatible hand-portable |
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| CN114431940A (en) * | 2022-04-02 | 2022-05-06 | 真健康（北京）医疗科技有限公司 | Four-degree-of-freedom puncture needle positioning and guiding device based on RCM structure |
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| CN103417303B (en) | 2016-01-20 |
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