CN109091234A - Minimally Invasive Surgery puncture needle robot system - Google Patents
Minimally Invasive Surgery puncture needle robot system Download PDFInfo
- Publication number
- CN109091234A CN109091234A CN201811093876.XA CN201811093876A CN109091234A CN 109091234 A CN109091234 A CN 109091234A CN 201811093876 A CN201811093876 A CN 201811093876A CN 109091234 A CN109091234 A CN 109091234A
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- Prior art keywords
- puncture needle
- minimally invasive
- invasive surgery
- needle robot
- robot system
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Minimally Invasive Surgery puncture needle robot systems, including puncture needle robot, locating module, remote control module and terminal service equipment；The puncture needle robot includes pedestal, the elevating mechanism being set on the pedestal, the passive arm being set on the elevating mechanism and the RCM mechanism for being set to the passive arm front end；The terminal service equipment includes display screen, operating console, monitoring modular, testing result storage and output module.Minimally Invasive Surgery puncture needle robot system precision of the invention is high, intelligence degree is high, feature-rich, achievable long-range control, can treat for surgical and provide good auxiliary.Puncture needle robot of the invention can increase the flexibility of operation, and complicated operation operation is made to become simple；The present invention can play robot manipulation and stablize, and the advantage of accurate positioning guarantees surgical quality；The setting angle of passive arm of the invention is able to achieve high-precision and adjusts, and guarantees the precision and quality of operative treatment.
Description
Technical field
The present invention relates to puncture needle robotic technology field, in particular to a kind of Minimally Invasive Surgery puncture needle robot system.
Background technique
Minimally Invasive Surgery is to probe into carry out hand in vivo by the miniature incision of human body surface using elongated rod-shaped operation tool
Art operation.Compared with traditional open surgery, it can reduce operative incision and operative scar, shorten recovery time, reduces
Amount of bleeding and complication etc.；As can be seen that the superiority that Minimally Invasive Surgery has open surgery incomparable, therefore receive wide
The favor of big patient and doctor, minimal invasive techniques are applied in multiple clinical fields at present.
But current Minimally Invasive Surgery is substantially completed by veteran doctor, but reality is, experienced
Doctor it is limited, puncturing operation process duration is longer, and the energy of doctor is limited, to limit the popularization of Minimally Invasive Surgery.
The advantage as possessed by Minimally Invasive Surgery, and its operationally these existing difficulties, but also doctor it is expected that obtaining auxiliary sets
For to facilitate implementation and this kind of operation can be carried out in more areas.Robot technology is combined with traditional minimal invasive techniques
Puncture needle robot be generally considered a kind of method for efficiently solving traditional minimal invasive techniques disadvantage.But present puncture needle
There are many defects for robot, as inconvenient for use, precision is low, intelligence degree is low, have a single function, cannot achieve long-range control
Deng.So needing a kind of new Minimally Invasive Surgery puncture needle robot system, now to solve the above problems.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of Minimally Invasive Surgery
Puncture needle robot system.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of system of Minimally Invasive Surgery puncture needle robot
System, including puncture needle robot, locating module, remote control module and terminal service equipment；
The puncture needle robot includes pedestal, the elevating mechanism being set on the pedestal, is set to the elevator
Passive arm on structure and the RCM mechanism for being set to the passive arm front end；
The terminal service equipment includes display screen, operating console, monitoring modular, testing result storage and output mould
Block.
Preferably, the passive arm include multiple passive locking joints and be set to multiple passive locking joints it
Between connecting rod.
Preferably, the elevating mechanism includes lifting column, the driver being set on the lifting column and the driving
The elevating lever of device connection, the connector being connected on the elevating lever and the fixing seat for being set to the lifting column bottom.
Preferably, adjustable connecting plate, the other end and the quilt of the adjustable connecting plate are provided on the connector
The passive locking joint of swing arm rear end is affixed.
Preferably, it is provided with connector in the middle part of the adjustable connecting plate, the connector includes and the adjustable connection
The affixed trunk portion in plate middle part and the diameter for being fixed in the trunk portion other end are greater than the spherical part of the trunk portion.
Preferably, the connecting hole for connector cooperation insertion, the connection are offered in the middle part of the connector
Hole includes another by the inward-facing post holes section opened up in the front end contacted with adjustable connecting plate of the connector and with the post holes section
The diameter of one end connection is greater than the ball section of the post holes section.
Preferably, the diameter of the spherical part is greater than the diameter of the post holes section, and the spherical part cooperation is contained in institute
It states in ball section, and there is gap between the two；The trunk portion cooperation is contained in the post holes section, and is had between the two
Gap.
Preferably, the periphery of the adjustable connecting plate and connector offers multiple threaded holes, in the threaded hole
It is inserted with adjusting screw, spring is also arranged on the adjusting screw, the spring is in the nut for adjusting screw and adjustable company
Between fishplate bar.
Preferably, polytetrafluoroethylene ethylene layer is provided on the inner arm of the surface of the spherical part and ball section.
Preferably, the base bottom is provided with universal wheel, is provided with locking device on the universal wheel.
The beneficial effects of the present invention are: Minimally Invasive Surgery puncture needle robot system precision of the invention is high, intelligence degree
High, feature-rich, achievable long-range control, can treat for surgical and provide good auxiliary.Puncture needle machine of the invention
People has multiple freedom degrees, can increase the flexibility of operation, and complicated operation operation is made to become simple；Passive locking of the invention is closed
Section has enough rigidity and locking torque, can guarantee the positioning accuracy of passive arm front end RCM；The present invention can play robot behaviour
Work is stablized, the advantage of accurate positioning, guarantees surgical quality；The setting angle of passive arm of the invention is able to achieve high-precision and adjusts,
Guarantee the precision and quality of operative treatment.The configuration of the present invention is simple, using effect is good, has a good application prospect.
Detailed description of the invention
Fig. 1 is the functional block diagram of Minimally Invasive Surgery puncture needle robot system of the invention；
Fig. 2 is the structural schematic diagram of puncture needle robot of the invention；
Fig. 3 is the structural schematic diagram of elevating mechanism of the invention；
Fig. 4 is the structural schematic diagram of connector of the invention；
Fig. 5 is the structural schematic diagram of adjustable connecting plate of the invention.
Description of symbols:
1-pedestal；2-elevating mechanisms；3-passive arms；4-RCM mechanisms；5-adjustment seats；6-adjust component；7-can
Adjust connecting plate；8-connectors；20-lifting columns；21-drivers；22-elevating levers；23-fixing seats；30-passive lockings are closed
Section；31-connecting rods；70-connectors；71-trunk portions；72-spherical parts；73-threaded holes；74-adjust screw；75-bullets
Spring；80-connecting holes；81-post holes sections；82-ball sections；740-nuts.
Specific embodiment
The present invention will be further described in detail below with reference to the embodiments, to enable those skilled in the art referring to specification
Text can be implemented accordingly.
It should be appreciated that such as " having ", "comprising" and " comprising " term used herein are not precluded one or more
The presence or addition of a other elements or combinations thereof.
As shown in Figs. 1-5, a kind of Minimally Invasive Surgery puncture needle robot system of the present embodiment, including puncture needle robot,
Locating module, remote control module and terminal service equipment；
Puncture needle robot includes pedestal 1, the elevating mechanism being set on pedestal 12, the quilt being set on elevating mechanism 2
Swing arm 3 and the RCM mechanism 4 for being set to 3 front end of passive arm；RCM mechanism 4 is distal end fantasy sport mechanism (Remote Center
of Motion)。
Terminal service equipment includes display screen, operating console, monitoring modular, testing result storage and output module.Prison
Surveying module includes high-definition camera.
Wherein, pass through wireless telecommunications between puncture needle robot, locating module, remote control module and terminal service equipment
Connection, to transmit instruction and data.
The course of work of the invention are as follows:
1. operation consent, doctor by image detection equipment scanning 3-D imaging system, obtain patient's lesion image and its
Posture information, then carry out the surgery plannings such as target spot setting, path planning, thermal field simulation；And by other ancillary equipments, determination is worn
The point of puncture and puncture path of pricker robot, and import data to terminal service equipment；
2. doctor manually adjusts 3 joint of passive arm, RCM mechanism 4 is adjusted near entry point；
3. doctor is accurately positioned RCM mechanism 4 and entry point by locating module by operating console, then control
System adjustment 4 posture of RCM mechanism, makes it carry out inserting needle according to planning path；Biopsy needle guide reaches lesion according to the path of planning
Interior target spot carries out Minimally Invasive Surgery.
4. after operation, in conjunction with the monitoring data and treatment data analytical judgment surgical effect in operation.
In surgical procedure, entire surgical procedure is monitored by monitoring modular, and by display screen real-time display.And lead to
It crosses display screen and shows the information such as treatment data, after, treatment data is stored by testing result and is stored with output module
With printout (treatment report can be formed).Wherein, the long-range control to entire surgical procedure can be realized by remote control module
System can protect medical staff from there are the potential harms of X-ray irradiation in surgical procedure.
Passive arm 3 includes multiple passive connecting rods 31 locking joints 30 and being set between multiple passive locking joints 30.
Passive locking joint 30 has enough rigidity and locking torque, can guarantee the positioning accuracy of 3 front end RCM of passive arm.
Elevating mechanism 2 includes lifting column 20, the driver 21 being set on lifting column 20, the lifting connecting with driver 21
Bar 22, the connector 8 being connected on elevating lever 22 and the fixing seat 23 for being set to 20 bottom of lifting column.Elevating mechanism 2 can be convenient for
The height of passive arm 3 and RCM mechanism 4 is adjusted, to adapt to different operation height.
In one embodiment, fixing seat 23 is arranged on pedestal 1 by adjustment seat 5, between fixing seat 23 and adjustment seat 5
Be additionally provided with and adjust component 6, by adjustment seat 5, adjust component 6 can lifting column 20 to fixing seat 23 and thereon established angle
Degree is adjusted, to guarantee the right angle setting of lifting column 20.
In one embodiment, 11 bottom of pedestal is additionally provided with universal wheel, and locking device is provided on universal wheel, is conveniently pushed away
Dynamic puncture needle robot is mobile, and the control assembly of the puncture needle robot is mountable in pedestal 1.3 are provided on passive arm 3
Passive locking joint 30, the passive locking joint 30 of 3 rear end of passive arm are connect with the connector 8 on elevating lever 22, the quilt of front end
RCM mechanism 4 is connected on dynamic locking joint 30, intermediate passive locking joint 30 is passively locked by two connecting rods 31 and front and back two
Joint 30 connects.Operation consent, doctor unclamp three passive joints by control assembly first, and dragging is each manually in the horizontal direction
A passive joint, the preliminary spatial position for adjusting front end RCM lock three after tip position is adjusted near entry point
Passive joint.The RCM mechanism 4 of front end can accurately adjust the position of inserting needle and the angle of inserting needle.
Adjustable connecting plate 7, the other end of adjustable connecting plate 7 and the passive locking of 3 rear end of passive arm are provided on connector 8
Joint 30 is affixed.Adjustable connecting plate 7 is used to adjust the setting angle of passive arm 3, to guarantee that passive arm 3 goes on smoothly puncture, with
Realize accurate control.
Specifically, in one embodiment, be provided with connector 70 in the middle part of adjustable connecting plate 7, connector 70 include with can
The affixed trunk portion 71 in 7 middle part of tune connecting plate and the diameter for being fixed in 71 other end of trunk portion are greater than the spherical part of trunk portion 71
72.The middle part of connector 8 offers the connecting hole 80 for the cooperation insertion of connector 70, connecting hole 80 include by connector 8 with
The inward-facing post holes section 81 opened up in front end and the diameter being connected to 81 other end of post holes section that adjustable connecting plate 7 contacts are greater than post holes
The ball section 82 of section 81.The diameter of spherical part 72 is greater than the diameter of post holes section 81, and the cooperation of spherical part 72 is contained in ball section 82,
And there is gap between the two；The cooperation of trunk portion 71 is contained in post holes section 81, and has gap between the two.Spherical part 72
Polytetrafluoroethylene ethylene layer is provided on the inner arm of surface and ball section 82.Polytetrafluoroethylene ethylene layer can increase spherical part 72 surface and
The smoothness and wear-resisting property of the inner arm of ball section 82, can improve regulating effect, prolong the service life.
Wherein, the periphery of adjustable connecting plate 7 and connector 8 offers multiple threaded holes 73, is inserted in threaded hole 73
Adjust screw 74, adjust and be also arranged with the first spring 75 on screw 74, the first spring 75 be in adjust the nut 740 of screw 74 with
Between adjustable connecting plate 7.In an advantageous embodiment, threaded hole 73 includes four be arranged on four angles, flat to realize
The adjusting of face degree.
Specific Principles of Regulation are as follows: the cooperation of spherical part 72 is contained in ball section 82, and has gap between the two；Trunk portion
71 cooperations are contained in post holes section 81, and have gap between the two.Spherical part 72 small range can rotate in ball section 82, can
It adjusts and opens up threaded hole 73 on four angles of connecting plate 7 and connector 8, be fixedly connected by adjusting screw 74.By adjusting four
The elastic of screw 74 is adjusted on angle, enables adjustable connecting plate 7 relative to 8 tilt rotation of connector, to be adjustable adjustable company
The perpendicular setting angle of fishplate bar 7, to realize the setting angle and precision for the passive arm 3 being fixed on adjustable connecting plate 7
Adjusting.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details.
Claims (10)
1. a kind of Minimally Invasive Surgery puncture needle robot system, which is characterized in that including puncture needle robot, locating module, long-range
Control module and terminal service equipment；
The puncture needle robot includes pedestal, the elevating mechanism being set on the pedestal, is set on the elevating mechanism
Passive arm and be set to the RCM mechanism of the passive arm front end；
The terminal service equipment includes display screen, operating console, monitoring modular, testing result storage and output module.
2. Minimally Invasive Surgery puncture needle robot system according to claim 1, which is characterized in that the passive arm includes more
A passive locking joint and the connecting rod being set between multiple passive locking joints.
3. Minimally Invasive Surgery puncture needle robot system according to claim 2, which is characterized in that the elevating mechanism includes
Lifting column, the elevating lever connecting with the driver, is connected on the elevating lever driver being set on the lifting column
Connector and be set to it is described lifting column bottom fixing seat.
4. Minimally Invasive Surgery puncture needle robot system according to claim 3, which is characterized in that be arranged on the connector
There is adjustable connecting plate, the other end of the adjustable connecting plate and the passive locking joint of the passive arm rear end are affixed.
5. Minimally Invasive Surgery puncture needle robot system according to claim 4, which is characterized in that in the adjustable connecting plate
Portion is provided with connector, and the connector includes and affixed trunk portion in the middle part of the adjustable connecting plate and is fixed in the cylinder
The diameter of portion's other end is greater than the spherical part of the trunk portion.
6. Minimally Invasive Surgery puncture needle robot system according to claim 5, which is characterized in that the middle part of the connector
The connecting hole for connector cooperation insertion is offered, the connecting hole includes connecing with adjustable connecting plate by the connector
The inward-facing post holes section opened up in the front end of touching and the diameter being connected to the post holes section other end are greater than the ball of the post holes section
Section.
7. Minimally Invasive Surgery puncture needle robot system according to claim 6, which is characterized in that the diameter of the spherical part
Greater than the diameter of the post holes section, the spherical part cooperation is contained in the ball section, and has gap between the two；It is described
Trunk portion cooperation is contained in the post holes section, and has gap between the two.
8. Minimally Invasive Surgery puncture needle robot system according to claim 7, which is characterized in that the adjustable connecting plate and
The periphery of connector offers multiple threaded holes, and adjusting screw is inserted in the threaded hole, is also covered on the adjusting screw
Equipped with spring, the spring is between the nut and adjustable connecting plate for adjusting screw.
9. Minimally Invasive Surgery puncture needle robot system according to claim 8, which is characterized in that the surface of the spherical part
Polytetrafluoroethylene ethylene layer is provided with on the inner arm of ball section.
10. Minimally Invasive Surgery puncture needle robot system according to claim 1, which is characterized in that the base bottom is set
It is equipped with universal wheel, is provided with locking device on the universal wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811093876.XA CN109091234A (en) | 2018-09-19 | 2018-09-19 | Minimally Invasive Surgery puncture needle robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811093876.XA CN109091234A (en) | 2018-09-19 | 2018-09-19 | Minimally Invasive Surgery puncture needle robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109091234A true CN109091234A (en) | 2018-12-28 |
Family
ID=64866728
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811093876.XA Pending CN109091234A (en) | 2018-09-19 | 2018-09-19 | Minimally Invasive Surgery puncture needle robot system |
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| Country | Link |
|---|---|
| CN (1) | CN109091234A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112914729A (en) * | 2021-03-25 | 2021-06-08 | 江苏集萃复合材料装备研究所有限公司 | Intelligent auxiliary positioning bone surgery robot system and operation method thereof |
| CN113274102A (en) * | 2021-05-28 | 2021-08-20 | 河南省中医院（河南中医药大学第二附属医院） | Tumor biopsy puncture positioning instrument used on CT bed |
| CN113288421A (en) * | 2021-05-07 | 2021-08-24 | 山东商业职业技术学院 | Minimally invasive breast interventional operation robot and operation method thereof |
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| CN102973317A (en) * | 2011-09-05 | 2013-03-20 | 周宁新 | Arrangement structure for mechanical arm of minimally invasive surgery robot |
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| CN204512873U (en) * | 2015-03-17 | 2015-07-29 | 启东市久正支架制造有限公司 | Display screen universal regulated supporting structure |
| CN107184275A (en) * | 2017-07-25 | 2017-09-22 | 吉林大学 | A kind of robot for being used to aid in splanchnocoel Minimally Invasive Surgery |
| CN209301315U (en) * | 2018-09-19 | 2019-08-27 | 中国科学院苏州生物医学工程技术研究所 | Minimally Invasive Surgery puncture needle robot system |
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2018
- 2018-09-19 CN CN201811093876.XA patent/CN109091234A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102892363A (en) * | 2010-05-14 | 2013-01-23 | 直观外科手术操作公司 | Surgical system architecture |
| CN102973317A (en) * | 2011-09-05 | 2013-03-20 | 周宁新 | Arrangement structure for mechanical arm of minimally invasive surgery robot |
| CN204354093U (en) * | 2014-12-19 | 2015-05-27 | 中国航空工业集团公司济南特种结构研究所 | A kind of universal fixture |
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| CN209301315U (en) * | 2018-09-19 | 2019-08-27 | 中国科学院苏州生物医学工程技术研究所 | Minimally Invasive Surgery puncture needle robot system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112914729A (en) * | 2021-03-25 | 2021-06-08 | 江苏集萃复合材料装备研究所有限公司 | Intelligent auxiliary positioning bone surgery robot system and operation method thereof |
| CN113288421A (en) * | 2021-05-07 | 2021-08-24 | 山东商业职业技术学院 | Minimally invasive breast interventional operation robot and operation method thereof |
| CN113274102A (en) * | 2021-05-28 | 2021-08-20 | 河南省中医院（河南中医药大学第二附属医院） | Tumor biopsy puncture positioning instrument used on CT bed |
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