CN104825231A - Magnetic-resonance guided breast cancer minimally invasive interventional operation robot and control method thereof - Google Patents
Magnetic-resonance guided breast cancer minimally invasive interventional operation robot and control method thereof Download PDFInfo
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- CN104825231A CN104825231A CN201510221580.1A CN201510221580A CN104825231A CN 104825231 A CN104825231 A CN 104825231A CN 201510221580 A CN201510221580 A CN 201510221580A CN 104825231 A CN104825231 A CN 104825231A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
- A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
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Abstract
The invention discloses a magnetic-resonance guided breast cancer minimally invasive interventional operation robot and a control method thereof. The robot comprises a base, a first screw rod, a guide column, a second screw rod, a first mobile platform, a second mobile platform, a fixing mechanism, a first transmission mechanism, a second transmission mechanism, a first driving mechanism, a second driving mechanism and a third driving mechanism, wherein the first mobile platform is in transmission connection with the first screw rod and moves along the direction of axis Z; the second mobile platform is in transmission connection with the second driving mechanism by the second transmission mechanism and is driven to move along the direction of axis Y by the second driving mechanism; the second screw rod can be rotationally mounted on the second mobile platform; the fixing mechanism is used for fixing an operation executing member, is mounted on the second screw rod and moves along the direction of axis X. By using the robot disclosed by the invention, a breast cancer tumor coordinate position obtained by magnetic-resonance imaging equipment can be accurately reached under a magnetic-resonance imaging environment so as to realize implementation of a breast cancer minimally invasive interventional operation by guidance of magnetic-resonance scanning equipment.
Description
Technical field
The present invention relates to medical experiment equipment technical field, particularly relate to a kind of guided by magnetic resonance breast carcinoma Wicresoft's intervention operation robot and control method thereof.
Background technology
Over nearly 20 years, along with the progress of science and technology, " Wicresoft " this concept has been deep into clinical medical every field, especially plays an important role in the treatment of breast carcinoma.Minimally Invasive Surgery is little with its wound, it is fast to recover, without the need to the advantage such as sewing up and the hospital stays is short deeply by the welcome of patient, it can reach the therapeutic effect being even better than standard surgical, and few intercurrent disease, thus can Breastconserving therapy be realized.
In enforcement minimal invasive surgical procedures, in order to ensure the safety of surgical effect and patient, generally need to be guided by imaging methods.At present, guide at the imaging methods implementing main employing nuclear magnetic resonance in Minimally Invasive Surgery.
But because MR imaging apparatus imaging region is limited, clinician is difficult to carry out operation technique, need to adopt robot to perform the operation.But, up to the present, there is not yet the relevant report of the breast carcinoma Wicresoft intervention operation robot that can be used for MR imaging apparatus, meanwhile, market does not occur the operating robot with pinpoint accuracy yet.
Summary of the invention
Based on the technical problem that above-mentioned background technology exists, the present invention proposes a kind of guided by magnetic resonance breast carcinoma Wicresoft's intervention operation robot and control method thereof, under nuclear magnetic resonance environment, can be accurate to the breast cancer tumour coordinate position reaching and obtained by MR imaging apparatus, carry out breast carcinoma Wicresoft intervene operation to realize utilizing magnetic resonance imaging equipment to guide.
The present invention proposes a kind of guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot, comprise: base, the first screw mandrel, lead, the second screw mandrel, the first mobile platform, the second mobile platform, fixed mechanism, the first drive mechanism, the second drive mechanism, the first driving mechanism, the second driving mechanism and the 3rd driving mechanism, wherein:
First screw mandrel and lead to be arranged on base and to be arranged vertically with base, and the first screw mandrel is in transmission connection by the first drive mechanism and the first driving mechanism, and the first driving mechanism drives the first screw mandrel to rotate; First mobile platform is connected with the first screw rod transmission and is sleeved on lead, drives the first mobile platform to carry out Z-direction along lead and move in the first screw mandrel rotation process;
Second mobile platform is arranged on the first mobile platform, and the second mobile platform is in transmission connection by the second drive mechanism and the second driving mechanism, and the second driving mechanism drives the second mobile platform to carry out Y direction motion on the first mobile platform;
Second screw mandrel is arranged on the second mobile platform, and the second screw mandrel is connected with the 3rd driving mechanism, and the 3rd driving mechanism drives the second screw mandrel to rotate; Fixed mechanism is used for fixing operation execution unit, and fixed mechanism is arranged on the second screw mandrel, drives fixed mechanism to carry out X-direction along the second screw mandrel and move in the second screw mandrel rotation process.
Preferably, the quantity of the first screw mandrel is two, and two first screw mandrels are oppositely arranged on base, and two first screw mandrels to be all connected with the first driving mechanism by the first drive mechanism and to drive synchronous axial system by the first driving mechanism.
Preferably, the second mobile platform is between two first screw mandrels.
Preferably, the quantity of lead is four, arranges a lead respectively in each first screw mandrel both sides, and four leads occupy four vertex positions of tetragon.
Preferably, first drive mechanism comprises the first travelling gear A, the first travelling gear B, the first driven pedrail A and the first driven pedrail B, first travelling gear A is fixedly connected with wherein first screw mandrel, and the first travelling gear A is connected with the first driving mechanism by the first driven pedrail A; First travelling gear B is fixedly connected with another root first screw mandrel, and the first travelling gear B is connected with the first driving mechanism by the first driven pedrail B.
Preferably, the first driving mechanism to be fixed on base by the first motor cabinet and between two first screw mandrels, the first driving mechanism is provided with the first travelling gear C be connected with the first driven pedrail A and the first travelling gear D be connected with the first driven pedrail B.
Preferably, the first driving mechanism is the first supersonic motor.
Preferably, first mobile platform comprises the first guide rail, first crossbeam, the second guide rail and second cross beam, first guide rail, first crossbeam, the second guide rail and second cross beam head and the tail are connected to form rectangular frame in turn, and two first screw mandrels are each passed through first crossbeam and second cross beam and are in transmission connection with it.
Preferably, the first mobile platform also comprises four contiguous blocks, and four contiguous blocks lay respectively at the corner of rectangular frame, and four contiguous blocks are slidably arranged on four leads respectively.
Preferably, the second mobile platform is slidably arranged on the first guide rail and the second guide rail, and the second mobile platform is connected with the second drive mechanism, and the second drive mechanism is connected with the second driving mechanism.
Preferably, the second drive mechanism comprises the second travelling gear A, the second driven pedrail, and the second travelling gear A is arranged on first crossbeam, and the second travelling gear A is connected with the second driving mechanism by the second driven pedrail; Second driven pedrail is fixedly connected with the second mobile platform.
Preferably, the second driving mechanism is fixed on second cross beam by the second motor cabinet, and the second driving mechanism is provided with the second travelling gear B be connected with the second crawler belt.
Preferably, the second driving mechanism is the second supersonic motor.
Preferably, the 3rd driving mechanism is the 3rd supersonic motor, and the second screw mandrel is connected with the output shaft of the 3rd supersonic motor.
Preferably, base, the first screw mandrel, lead, the second screw mandrel, the first mobile platform, the second mobile platform, fixed mechanism, the first drive mechanism and the second drive mechanism are made by magnetic compatible material;
Preferably, the first motor cabinet and the second motor cabinet print by synthetic resin material 3D and form.
Preferably, the first screw mandrel and the second screw mandrel are made by titanium alloy material; First drive mechanism and the second drive mechanism are made by plastic material.
Preferably, contiguous block is printed by synthetic resin 3D and forms.
Preferably, lead is made by titanium alloy material.
Preferably, the overall dimensions of base is 200mm × 200mm × 5mm, and the overall dimensions of the first supersonic motor is 70mm × 70mm, and rated moment is 0.65N × m, the diameter of the second supersonic motor and the 3rd supersonic motor is all 46mm, and rated moment is all 0.15N × m.
The invention allows for a kind of guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot system, comprise: magnetic resonance imaging equipment and operating robot, described magnetic resonance imaging equipment for obtaining breast cancer tumour three-dimensional location coordinates, and carries out X-direction, Y direction, Z-direction motion by the breast cancer tumour three-dimensional location coordinates control operating robot obtained; Guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot described in the artificial right 1-8 item of described surgical machine.
The invention allows for the control method of a kind of guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot, comprising:
By magnetic resonance imaging equipment, human body is scanned, determine the three-dimensional location coordinates of breast cancer tumour;
The three-dimensional location coordinates of the breast cancer tumour obtained according to initial three-dimensional location coordinates and the magnetic resonance imaging equipment of operating robot carries out doing difference;
Control the first driving mechanism action by gained difference, the first driving mechanism drives the first drive mechanism action, and the first drive mechanism action drives the first screw mandrel to rotate, and the first screw mandrel rotates drive first mobile platform and moves along Z-direction;
Control the second driving mechanism action by gained difference, the second driving mechanism drives the second drive mechanism action, and the second drive mechanism action drives the second mobile platform to move along Y direction on the first mobile platform; Control the 3rd driving mechanism action by gained difference, the 3rd driving mechanism drives the second screw mandrel to rotate, and the second screw mandrel rotates and drives fixed mechanism to move along X-direction.
In the present invention, operating robot and magnetic resonance imaging equipment coordinate, and in the nuclear magnetic resonance environment that operating robot is formed at magnetic resonance imaging equipment, guide according to coordinate, realize the accurate movement of operation execution unit; By the cooperation of the first drive mechanism and the first driving mechanism, the first mobile platform is moved up and down along Z-direction; The second mobile platform is made on the first mobile platform along Y direction horizontal movement by the cooperation of the second drive mechanism and the second driving mechanism; By fixed mechanism, operation execution unit is fixed, and coordinated with the second screw mandrel in the second mobile platform by the slide unit in fixed mechanism, and utilize the 3rd driving mechanism driving to make fixed mechanism on the second mobile platform along X-direction horizontal movement; Thus realize operation execution unit fixed thereon in the axial motion of X, Y, Z tri-, thus operation execution unit is made accurately to arrive surgical target position to carry out minimally-invasive treatment.
In enforcement piercing process, the three-dimensional location coordinates being obtained breast cancer tumour position by MR imaging apparatus is as surgical target position, and the three-dimensional location coordinates of the breast cancer tumour obtained according to initial three-dimensional location coordinates and the magnetic resonance imaging equipment of operating robot carries out doing difference; Control the first driving mechanism, the second driving mechanism and the 3rd driving mechanism interoperation by gained difference and carry out displacement, thus make operation execution unit accurately arrive surgical target position to carry out minimally-invasive treatment.
The present invention can be widely used under magnetic resonance imaging equipment guides and carry out in the 3 D stereo navigation system of Wicresoft's intervene operation to breast carcinoma, carries out breast carcinoma Wicresoft intervene operation to realize utilizing magnetic resonance imaging equipment to guide.Solve at present because MR imaging apparatus imaging region is limited, cannot manually-operated problem be carried out, for breast carcinoma Minimally Invasive Surgery stabilisation, precision, facilitation and intellectuality provide a kind of feasible program.
In sum, the material in the present invention selected by each parts is high strength magnetic compatible material and is made, and this material not only has high mechanical properties, and has nonferromagnetic, and 3 D positioning equipment be can be applicable in magnetic resonance system.The present invention to be guided piercing process by magnetic resonance imaging imaging and monitors, and is conducive to the research to breast carcinoma Wicresoft intervene operation clinicing aspect, for medical science and life science provide good experiment porch.The present invention is by actual investigation test, and taken into full account open type magnetic resonance instrument narrow space, the feature that magnetic field intensity is high, the volume of whole robot is very little, flexible operation.The whole motion of the present invention is all carried out on screw mandrel, and momental controllable precision is high, can meet the required precision of breast cancer tumour treatment well.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot that the present invention proposes;
Fig. 2 is the partial schematic diagram one of a kind of guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot that the present invention proposes;
Fig. 3 is the partial schematic diagram two of a kind of guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot that the present invention proposes;
Fig. 4 is the partial schematic diagram three of a kind of guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot that the present invention proposes.
Detailed description of the invention
Below, by specific embodiment, technical scheme of the present invention is described in detail.
As Figure 1-4, Fig. 1 is the structural representation of a kind of guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot that the present invention proposes; Fig. 2 is the partial schematic diagram one of a kind of guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot that the present invention proposes; Fig. 3 is the partial schematic diagram two of a kind of guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot that the present invention proposes; Fig. 4 is the partial schematic diagram three of a kind of guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot that the present invention proposes.
In this application, X-direction, Y direction, Z-direction are mutually orthogonal, form three-dimensional location coordinates system.
With reference to Fig. 1-4, a kind of guided by magnetic resonance breast carcinoma Wicresoft's intervention operation robot that the embodiment of the present invention proposes and control method thereof, comprise: base 1, first screw mandrel 2, lead 11, second screw mandrel 12, first mobile platform 3, second mobile platform 4, fixed mechanism 5, first drive mechanism 6, second drive mechanism 7, first driving mechanism 8, second driving mechanism 9 and the 3rd driving mechanism 10, wherein:
First screw mandrel 2 and lead 11 are all positioned on base 1, and the quantity of the first screw mandrel 2 is two, and two first screw mandrels 2 are oppositely arranged on base 1; Wire column 11 is four, and the both sides of every root first screw mandrel 2 all arrange a lead 11.
First drive mechanism 6 comprises the first travelling gear A, the first travelling gear B, the first driven pedrail A61 and the first driven pedrail B62; First travelling gear A with in two first screw mandrels 2 wherein one be fixedly connected with, the first travelling gear B is fixedly connected with another root first screw mandrel 2; First driven pedrail A61 is connected with the first travelling gear A and the first driving mechanism 8 respectively; First driven pedrail B62 is connected with the first travelling gear B and the first driving mechanism 8 respectively.
First driving mechanism 8 is the first supersonic motor, and the first supersonic motor to be fixed on base 1 by the first motor cabinet 13 and between two first screw mandrels 2; The output shaft of the first supersonic motor is provided with the first travelling gear C be connected with the first driven pedrail A61 and the first travelling gear D be connected with the first driven pedrail B62; First driving mechanism 8 to be cooperatively interacted drive two first screw mandrel 2 synchronous axial system by the first travelling gear A, the first travelling gear B, the first driven pedrail A61 and the first driven pedrail B62.
First mobile platform 3 comprises the first guide rail 31, first crossbeam 32, second guide rail 33 and second cross beam 34; First guide rail 31, first crossbeam 32, second guide rail 33 and second cross beam 34 are connected to form rectangular frame in turn by contiguous block 35 head and the tail, and contiguous block 35 lays respectively at the corner of orthogonal framework; Four contiguous blocks 35 in first mobile platform 3 are set on four leads 11, first crossbeam 32 in first mobile platform 3 and second cross beam 34 are in transmission connection with two first screw mandrels 2 respectively, in the rotation process of the first screw mandrel 2, the first mobile platform 3 carries out Z-direction along lead 11 and moves.
Second drive mechanism 7 comprises the second travelling gear A, the second driven pedrail; Second travelling gear A is fixed on the bottom of first crossbeam 32; Second driven pedrail is connected with the second travelling gear A and the second driving mechanism 9 respectively.
Second driving mechanism 9 is the second supersonic motor, and the second supersonic motor is fixed on second cross beam 34 by the second motor cabinet 14; The output shaft of the second supersonic motor is provided with the second travelling gear B15 be connected with the second driven pedrail; Second supersonic motor drives the second driven pedrail to transmit.
Second mobile platform 4 is removable to be arranged on the first guide rail 31 in the first mobile platform 3 and the second guide rail 33, and the second mobile platform 4 is connected with the second driven pedrail; In the second driven pedrail transport process, the second mobile platform 4 carries out Y direction along the first guide rail 31 and the second guide rail 33 and moves.
Second screw mandrel 12 is rotatably arranged on the second mobile platform 4, and the second screw mandrel 12 is connected with the 3rd driving mechanism 10.
3rd driving mechanism 10 is the 3rd supersonic motor, and the 3rd supersonic motor is fixedly mounted on the second mobile platform 4; The output shaft of the 3rd supersonic motor is connected with the second screw mandrel 12, and the 3rd supersonic motor drives the second screw mandrel 12 to rotate.
Fixed mechanism 5 is for fixing operation execution unit, and operation execution unit can be puncture ablation needle, and fixed mechanism 5 is arranged on the second screw mandrel 12, and in the rotation process of the second screw mandrel 12, fixed mechanism 5 carries out X-direction along the second screw mandrel 12 and moves.
In addition, in order to improve the intensity of structure and have reduction cost and reduced volume concurrently, in the present invention, base 1, first screw mandrel 2, second screw mandrel 12, first mobile platform 3, second mobile platform 4, fixed mechanism 5, first drive mechanism 6 and the second drive mechanism 7 are made by magnetic compatible material; First motor cabinet and the second motor cabinet print by synthetic resin material 3D and form; First screw mandrel 2 and the second screw mandrel 12 are made by titanium alloy material; First drive mechanism 6 and the second drive mechanism 7 are made by plastic material; Contiguous block 35 is printed by synthetic resin 3D and forms; Lead 11 is made by titanium alloy material.
The overall dimensions of base 1 is 200 × 200 × 5mm; The overall dimensions of the first supersonic motor is 70 × 70mm, and rated moment is 0.65N × m; The diameter of the second supersonic motor and the 3rd supersonic motor is 46mm, and rated moment is 0.15N × m.
The present invention makes the first mobile platform 3 move up and down along Z-direction by the cooperation of the first drive mechanism 6 and the first driving mechanism 8; The second mobile platform 4 is made on the first mobile platform 3 along Y direction horizontal movement by the cooperation of the second drive mechanism 7 and the second driving mechanism 9; By fixed mechanism 5, operation execution unit is fixed, and coordinated with the second screw mandrel 12 in the second mobile platform 4 by the slide unit in fixed mechanism 5, and the 3rd driving mechanism 10 driving is utilized to make fixed mechanism 5 on the second mobile platform 4 along X-direction horizontal movement; Thus band has an operation execution unit in the axial motion of X, Y, Z tri-.
The embodiment of the present invention proposes a kind of guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot system, comprise: magnetic resonance imaging equipment and operating robot, described magnetic resonance imaging equipment for obtaining breast cancer tumour three-dimensional location coordinates, and carries out X-direction, Y direction, Z-direction motion by the breast cancer tumour three-dimensional location coordinates control operating robot obtained; The artificial described guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot of described surgical machine.
The embodiment of the present invention proposes the control method of a kind of guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot, comprising:
By magnetic resonance imaging equipment, human body is scanned, determine the three-dimensional location coordinates of breast cancer tumour;
The three-dimensional location coordinates of the breast cancer tumour obtained according to initial three-dimensional location coordinates and the magnetic resonance imaging equipment of operating robot carries out doing difference;
Control the first driving mechanism 8 action by gained difference, the first driving mechanism 8 drives the first drive mechanism 6 action, and the first drive mechanism 6 action drives the first screw mandrel 2 to rotate, and the first screw mandrel 2 rotates drive first mobile platform 3 and moves along Z-direction;
Control the second driving mechanism 9 action by gained difference, the second driving mechanism 9 drives the second drive mechanism 7 action, and the second drive mechanism 7 action drives the second mobile platform 4 to move along Y direction on the first mobile platform 3;
Control the 3rd driving mechanism 10 action by gained difference, the 3rd driving mechanism 10 drives the second screw mandrel 12 to rotate, and the second screw mandrel 12 rotates and drives fixed mechanism 5 to move along X-direction.
In enforcement piercing process, first operation execution unit is fixed on fixed mechanism 5; The three-dimensional location coordinates of breast cancer tumour position is obtained again by MR imaging apparatus; The three-dimensional location coordinates of the breast cancer tumour obtained according to initial three-dimensional location coordinates and the magnetic resonance imaging equipment of operating robot carries out doing difference; The quantity of motion that operating robot arrives coordinates of targets is gone out again by gained mathematic interpolation, and realize motion by the driving of the first driving mechanism, the second driving mechanism and the 3rd driving mechanism, thus operation execution unit is accurately arrived set objectives to carry out minimally-invasive treatment.
The invention solves at present because MR imaging apparatus imaging region is limited, cannot manually-operated problem be carried out, for breast carcinoma Minimally Invasive Surgery stabilisation, precision, facilitation and intellectuality provide a kind of feasible program.
The above; be only the present invention's preferably detailed description of the invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to according to technical scheme of the present invention and inventive concept thereof and replace or change, all should be encompassed within protection scope of the present invention.
Claims (10)
1. a guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot, it is characterized in that, comprise: base (1), the first screw mandrel (2), lead (11), the second screw mandrel (12), the first mobile platform (3), the second mobile platform (4), fixed mechanism (5), the first drive mechanism (6), the second drive mechanism (7), the first driving mechanism (8), the second driving mechanism (9) and the 3rd driving mechanism (10), wherein:
First screw mandrel (2) and lead (11) are arranged on base (1) and go up and be arranged vertically with base (1), first screw mandrel (2) is in transmission connection by the first drive mechanism (6) and the first driving mechanism (8), and the first driving mechanism (8) drives the first screw mandrel (2) to rotate; First mobile platform (3) and the first screw mandrel (2) are in transmission connection and are sleeved on lead (11), drive the first mobile platform (3) to carry out Z-direction motion along lead (11) in the first screw mandrel (2) rotation process;
Second mobile platform (4) is arranged on the first mobile platform (3), second mobile platform (4) is in transmission connection by the second drive mechanism (7) and the second driving mechanism (9), and the second driving mechanism (9) drives the second mobile platform (4) to carry out Y direction motion on the first mobile platform (3);
Second screw mandrel (12) is arranged on the second mobile platform (4), second screw mandrel (12) is connected with the 3rd driving mechanism (10), and the 3rd driving mechanism (10) drives the second screw mandrel (12) to rotate; Fixed mechanism (5) is for fixing operation execution unit, fixed mechanism (5) is arranged on the second screw mandrel (12), drives fixed mechanism (5) to carry out X-direction motion along the second screw mandrel (12) in the second screw mandrel (12) rotation process.
2. guided by magnetic resonance breast carcinoma Wicresoft according to claim 1 intervention operation robot, it is characterized in that, the quantity of the first screw mandrel (2) is two, two first screw mandrels (2) are oppositely arranged on base (1), and two first screw mandrels (2) to be all connected with the first driving mechanism (8) by the first drive mechanism (6) and to drive synchronous axial system by the first driving mechanism (8); Preferably, the second mobile platform (4) is positioned between two first screw mandrels (2); Preferably, the quantity of lead (11) is four, and arrange a lead (11) respectively in each first screw mandrel (2) both sides, four leads (11) occupy four vertex positions of tetragon.
3. guided by magnetic resonance breast carcinoma Wicresoft according to claim 1 and 2 intervention operation robot, it is characterized in that, first drive mechanism (6) comprises the first travelling gear A, the first travelling gear B, the first driven pedrail A (61) and the first driven pedrail B (62), first travelling gear A is fixedly connected with wherein first screw mandrel (2), and the first travelling gear A is connected with the first driving mechanism (8) by the first driven pedrail A (61); First travelling gear B is fixedly connected with another root first screw mandrel (2), and the first travelling gear B is connected with the first driving mechanism (8) by the first driven pedrail B (62).
4. the guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot according to any one of claim 1-3, it is characterized in that, first driving mechanism (8) is fixed on base (1) by the first motor cabinet (13) and goes up and be positioned between two first screw mandrels (2), and the first driving mechanism (8) is provided with the first travelling gear C be connected with the first driven pedrail A (61) and the first travelling gear D be connected with the first driven pedrail B (62); Preferably, the first driving mechanism (8) is the first supersonic motor.
5. the guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot according to any one of claim 1-4, it is characterized in that, first mobile platform (3) comprises the first guide rail (31), first crossbeam (32), the second guide rail (33) and second cross beam (34), first guide rail (31), first crossbeam (32), the second guide rail (33) and second cross beam (34) head and the tail are connected to form rectangular frame in turn, and two first screw mandrels (2) are each passed through first crossbeam (32) and second cross beam (34) and are in transmission connection with it; Preferably, first mobile platform (3) also comprises four contiguous blocks (35), four contiguous blocks (35) lay respectively at the corner of rectangular frame, and four contiguous blocks (35) are slidably arranged on four leads (11) respectively.
6. the guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot according to any one of claim 1-5, it is characterized in that, second mobile platform (4) is slidably arranged on the first guide rail (31) and the second guide rail (33), second mobile platform (4) is connected with the second drive mechanism (7), and the second drive mechanism (7) is connected with the second driving mechanism (9); Preferably, second drive mechanism (7) comprises the second travelling gear A, the second driven pedrail, second travelling gear A is arranged on first crossbeam (32), and the second travelling gear A is connected with the second driving mechanism (9) by the second driven pedrail; Second driven pedrail is fixedly connected with the second mobile platform (4); Preferably, second driving mechanism (9) is fixed on second cross beam (34) by the second motor cabinet (14), and the second driving mechanism (9) is provided with the second travelling gear B (15) be connected with the second crawler belt; Preferably, the second driving mechanism (9) is the second supersonic motor.
7. the guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot according to any one of claim 1-6, it is characterized in that, 3rd driving mechanism (10) is the 3rd supersonic motor, and the second screw mandrel (12) is connected with the output shaft of the 3rd supersonic motor.
8. the guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot according to any one of claim 1-7, it is characterized in that, base (1), the first screw mandrel (2), lead (11), the second screw mandrel (12), the first mobile platform (3), the second mobile platform (4), fixed mechanism (5), the first drive mechanism (6) and the second drive mechanism (7) are made by magnetic compatible material;
Preferably, the first motor cabinet (13) and the second motor cabinet (14) print by synthetic resin material 3D and form; Preferably, the first screw mandrel (2) and the second screw mandrel (12) are made by titanium alloy material; First drive mechanism (6) and the second drive mechanism (7) are made by plastic material; Preferably, contiguous block (35) is printed by synthetic resin 3D and forms; Preferably, lead (11) is made by titanium alloy material;
Preferably, the overall dimensions of base (1) is 200mm × 200mm × 5mm, and the overall dimensions of the first supersonic motor is 70mm × 70mm, and rated moment is 0.65N × m, the diameter of the second supersonic motor and the 3rd supersonic motor is all 46mm, and rated moment is all 0.15N × m.
9. a guided by magnetic resonance breast carcinoma Wicresoft intervene operation navigation system, it is characterized in that, comprise: magnetic resonance imaging equipment and operating robot, described magnetic resonance imaging equipment for obtaining breast cancer tumour three-dimensional location coordinates, and carries out X-direction, Y direction, Z-direction motion by the breast cancer tumour three-dimensional location coordinates control operating robot obtained; Guided by magnetic resonance breast carcinoma Wicresoft intervention operation robot described in the artificial right 1-8 item of described surgical machine.
10. a control method for guided by magnetic resonance breast carcinoma Wicresoft as claimed in claim 9 intervention operation robot, is characterized in that, comprising:
By magnetic resonance imaging equipment, human body is scanned, determine the three-dimensional location coordinates of breast cancer tumour;
The three-dimensional location coordinates of the breast cancer tumour obtained according to initial three-dimensional location coordinates and the magnetic resonance imaging equipment of operating robot carries out doing difference;
The first driving mechanism (8) action is controlled by gained difference, first driving mechanism (8) drives the first drive mechanism (6) action, first drive mechanism (6) action drives the first screw mandrel (2) to rotate, and the first screw mandrel (2) rotates drive first mobile platform (3) and moves along Z-direction;
The second driving mechanism (9) action is controlled by gained difference, second driving mechanism (9) drives the second drive mechanism (7) action, and the second drive mechanism (7) action drives the second mobile platform (4) to move along Y direction on the first mobile platform (3);
The 3rd driving mechanism (10) action is controlled by gained difference, 3rd driving mechanism (10) drives the second screw mandrel (12) to rotate, and the second screw mandrel (12) rotates and drives fixed mechanism (5) to move along X-direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510221580.1A CN104825231B (en) | 2015-04-30 | 2015-04-30 | A kind of minimally invasive intervention operation robot of guided by magnetic resonance breast cancer and its control method |
Applications Claiming Priority (1)
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| CN106568926A (en) * | 2016-10-31 | 2017-04-19 | 同济大学 | 3D printed building mortar bulk property testing device |
| CN107913473A (en) * | 2017-10-31 | 2018-04-17 | 朱远湖 | Breast localization component and glandula mammaria positioning device |
| CN108618845A (en) * | 2017-03-20 | 2018-10-09 | 新加坡国立大学 | A kind of cranial surgery micro-wound operation robot in parallel being securable to skull |
| CN111544120A (en) * | 2020-05-14 | 2020-08-18 | 上海交通大学医学院附属第九人民医院 | Precision measuring device for surgical robot navigation system |
| CN113893036A (en) * | 2021-09-09 | 2022-01-07 | 上海交通大学 | Interventional robot device in magnetic resonance environment |
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| CN103417303A (en) * | 2013-08-16 | 2013-12-04 | 天津大学 | Nuclear magnetism compatibility surgical robot based on screw drive |
| CN103876786A (en) * | 2014-04-13 | 2014-06-25 | 哈尔滨理工大学 | Mammary gland intervening robot compatible with nuclear magnetic resonance |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106568926A (en) * | 2016-10-31 | 2017-04-19 | 同济大学 | 3D printed building mortar bulk property testing device |
| CN108618845A (en) * | 2017-03-20 | 2018-10-09 | 新加坡国立大学 | A kind of cranial surgery micro-wound operation robot in parallel being securable to skull |
| CN107913473A (en) * | 2017-10-31 | 2018-04-17 | 朱远湖 | Breast localization component and glandula mammaria positioning device |
| CN107913473B (en) * | 2017-10-31 | 2024-02-06 | 朱远湖 | Mammary gland positioning component and mammary gland positioning device |
| CN111544120A (en) * | 2020-05-14 | 2020-08-18 | 上海交通大学医学院附属第九人民医院 | Precision measuring device for surgical robot navigation system |
| CN113893036A (en) * | 2021-09-09 | 2022-01-07 | 上海交通大学 | Interventional robot device in magnetic resonance environment |
| CN113893036B (en) * | 2021-09-09 | 2023-11-21 | 上海交通大学 | Interventional robot device under magnetic resonance environment |
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