CN101632596A - Robot for aspiration biopsy of prostatic gland - Google Patents
Robot for aspiration biopsy of prostatic gland Download PDFInfo
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- CN101632596A CN101632596A CN200810064990A CN200810064990A CN101632596A CN 101632596 A CN101632596 A CN 101632596A CN 200810064990 A CN200810064990 A CN 200810064990A CN 200810064990 A CN200810064990 A CN 200810064990A CN 101632596 A CN101632596 A CN 101632596A
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Abstract
The invention provides a robot for aspiration biopsy of the prostatic gland, which is the prostatic aspiration biopsy equipment providing a cytologic diagnosis evidence for early-stage prostate cancer. The equipment comprises a computer system(1) for receiving and processing prostatic ultrasonograph data, a Motoman robot(3), a puncturing mechanism(4) and a driving device for a motor(6) of the puncturing mechanism(4), wherein the puncturing mechanism(4) is an end effector of the robot(3) and fixed at the tail end of the robot(3); the puncturing mechanism(4) consists of a DC servo motor(6), a base, two guide rails(7), a V-shaped belt(8), a front-end bearing seat(9), a needle-holding seat(10) and an electromagnetic launching device; the DC servo motor(6) is connected with the seat and can be disassembled by a V-shaped belt tightener (13); and the seat is arranged on the two guide rails(7) and connected with the V-shaped belt(8) by a belt clamping device(15). The robot can realize the accurate positioning, high efficiency, automation and informatization in a diagnostic process, so that the labor intensity of doctors is greatly lowered.
Description
One, technical field:
What the present invention relates to is the aspiration biopsy of prostatic gland equipment that the cytodiagnosis foundation is provided for early prostate cancer, and what be specifically related to is robot for aspiration biopsy of prostatic gland.
Two, background technology:
Change along with China's aged tendency of population, dietary structure and environmental factors, and the raising of health care level, (Prostatic Cancer, PCA) sickness rate is ascendant trend year by year to China's carcinoma of prostate, leapt to male's urinary system and reproductive system malignant tumor the 3rd.According to the statistics in Shanghai City, the sickness rate of carcinoma of prostate increased more than 50% than the sixties now, and the trend that more increases sharply is arranged.How early diagnosis prostate gland cancer becomes a key issue in the clinical position.
The prostate biopsy biopsy can provide the cytodiagnosis foundation, and is extremely important for the diagnosis of early prostate cancer.Carcinoma of prostate patient suspected will implement aspiration biopsy usually before formally performing the operation, carry out last affirmation, to avoid possible error diagnosis.The prostate biopsy method has four kinds: 1. needle puncture biopsy; 2. fine needle aspiration biopsy; 3. open biopsy; 4. per urethra TURP biopsy.Wherein needle puncture biopsy and fine needle aspiration biopsy are simple to operate, and post-operative complication is few, use very extensive clinically.The eighties in 20th century, along with under prostate specific antigen (PSA) and the ultrasonic guidance through the clinical practice of perineum and rectum aspiration biopsy of prostatic gland, the PCA recall rate improves greatly.Prostate biopsy is safe and simple under the ultrasonic guidance, puncture accuracy and success rate height, thereby be used widely.
Equipment at the clinical aspiration biopsy of prostatic gland that generally adopts is very simple at present, the main form that is made of one with supersonic inspection device that adopts.Usually make the pilot hole of puncture needle in the ultrasonic probe side, the puncture needle on the cell taking gun positions puncture by this pilot hole guiding under the ultrasonoscopy guiding.Ultrasonic probe and cell taking gun all are to be finished by manual operation, and the operating process more complicated needs plural at least doctor to cooperate, and labor intensity is big, and the positioning accuracy of aspiration biopsy pin is low, the loss height.Therefore, have to adopt more puncture time (having many doctors to adopt the art formula of 13 pins), bring more misery, also increased the chance that infects to the patient.
Three, summary of the invention:
The purpose of this invention is to provide a kind of robot for aspiration biopsy of prostatic gland, be used to solve existing aspiration biopsy of prostatic gland equipment manual operation complexity, problem that positioning accuracy is low.
Summary of the invention:
Robot for aspiration biopsy of prostatic gland, its composition comprises: the driving device of accepting and handle computer system (1), Motoman robot (3), acupuncture treatment mechanism (4) and the motor (6) thereof of prostate ultrasound image data; Acupuncture treatment mechanism (4) is the end effector of robot (3), be fixed on the end of robot (3), acupuncture treatment mechanism (4) is by DC servo motor (6), base, two guide rails (7), V is with (8), and front end supporting base (9) is held needle stand (10) and electromagnetic launch device and constituted, DC servo motor (6) links to each other with base, dismantle by V band tensioner (13), base is installed on two guide rails (7), links to each other with V band (8) by entrainment device (15).
Described robot for aspiration biopsy of prostatic gland, the described needle stand (10) of holding is gone up design link stopper (11) and cylindrical piece is arranged, and describedly holds on the needle stand (10) also that design has pressing plate (14), by using pressing plate (14), biopsy needle is fixed on holds on the needle stand (10).
Described robot for aspiration biopsy of prostatic gland, described front end supporting base (9) uses renewable bushing (17).Realize of the support of acupuncture treatment mechanism front end supporting base, solved the problem of selecting the different model biopsy needle the different-diameter biopsy needle.
Described robot for aspiration biopsy of prostatic gland, described electromagnetic launch device adopt electromagnet apparatus to trigger firing button, can finish the extraction of biopsy needle to biological tissue.
Described robot for aspiration biopsy of prostatic gland, described DC servo motor (6) has incremental optical-electricity encoder (16), and adopting Siemens S2-200PLC and small-scale control relay circuit accurately to control, described Motoman robot (3) is the UP6 humanoid robot with 6 degree of freedom of company of Shoudu Iron and Steel Co robot.
Beneficial effect:
1, the present invention can realize automatization, mechanization, computerized aspiration biopsy, raises the efficiency and quality.
2, the present invention adopts the main means of robot as the puncture needle positioning control, acupuncture treatment mechanism in conjunction with independent design, under the control of computer, use robot to carry out the aspiration biopsy of carcinoma of prostate, because robot for aspiration biopsy of prostatic gland is operated with digital mode more accurately than interventional therapy expert, so not only can realize accurate location, high efficiency, automatization and the informationization of diagnostic procedure, can also reduce doctor's labor intensity greatly.The error that simultaneously can also avoid the expert to cause because of reasons such as fatigue, emotion, carelessness is so the robot for aspiration biopsy of prostatic gland of exploitation and development precise and high efficiency has important practical significance and good prospects for application.
3, robot for aspiration biopsy of prostatic gland is actually the have an acupuncture treatment aspiration biopsy of prostatic gland system of trajectory planning, robot auxiliary operation of a cover computer, thereby substitute veteran doctor and the major part work of technician in aspiration biopsy, realize accurate biopsy, increase work efficiency, reduce the purpose of aspiration biopsy cost.
Four, description of drawings:
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a system of the present invention operational flowchart;
Fig. 3 is the vertical view of acupuncture treatment mechanism;
Fig. 4 is the front view of acupuncture treatment mechanism.
1, computer system 2, switch board 3, robot 4, acupuncture treatment mechanism 5, patient 6, motor 7, two guide rail 8, V are with 9, front end supporting base 10, hold needle stand 11, link stopper 12, electromagnetic launch device 13, V band tensioner 14, pressing plate 15, entrainment device 16, encoder 17, renewable bushing
Five, the specific embodiment:
The present invention will be further described below in conjunction with accompanying drawing:
Fig. 1 provides structural representation of the present invention, as shown in the figure, this robot for aspiration biopsy of prostatic gland comprises that this robot for aspiration biopsy of prostatic gland comprises the driving device of computer system 1, Motoman robot 3, acupuncture treatment mechanism 4 and the motor 6 thereof accepting and handle the prostate ultrasound image data; Computer system 1 connects switch board 2, and industrial computer 1 is accepted patient 5 prostate ultrasound image data, and computer system is carried out date processing automatically, cooks up the optimal path of robot 3 feedings and acupuncture treatment mechanism inserting needle, finishes the biopsy task at last.Motoman robot 3 selects the UP6 humanoid robot of company of Shoudu Iron and Steel Co robot for use, has 6 degree of freedom, can realize the required any attitude of having an acupuncture treatment.Acupuncture treatment mechanism 4 is the end effector of robot, is fixed on the end of robot 3.At this system, adopt the VC++6.0 software development to go out motion control software " robot for aspiration biopsy of prostatic gland control software ", to adjust Motoman robot 3 and the operation control of the position of the mechanism of having an acupuncture treatment and attitude.
Fig. 3, Fig. 4 provide the sketch map of acupuncture treatment mechanism, and as shown in the figure, acupuncture treatment mechanism 4 is mainly by DC servo motor 6, base, and two guide rails 7, V is with 8, and front end supporting base 9 is held needle stand 10 and electromagnetic launch device and is formed.The DC servo motor 6 that has incremental optical-electricity encoder 16 links to each other with base, can dismantle by V band tensioner 13, adopts Siemens S2-200PLC and scale control relay circuit, realizes the accurate control to DC servo motor 6.Base is installed on two guide rails 7, is with 8 to link to each other by entrainment device 15 with V, can move reciprocatingly along two guide rails 7.Holding on the needle stand 10 design has link stopper 11 and cylindrical piece, and the restriction biopsy needle all around moves and around the rotatablely moving of three coordinate axess, re-uses pressing plate 14, promptly biopsy needle can be fixed on and hold on the needle stand 10.The electromagnetic launch device adopts electromagnet apparatus to trigger firing button, and front end supporting base 9 uses renewable bushing 17.
The present invention adopts optimal design, and the acupuncture treatment motion of mechanism is analyzed, and finishes design.
The present invention adopts two guide rails 7, DC servo motor 6 type of drive, finishes the reciprocating motion of holding needle stand 10.
The present invention adopts V to be with 8 load modes, and the realization biopsy needle is held being synchronized with the movement of needle stand 10 and DC servo motor 6, finishes the accurate location of biopsy needle, has guaranteed the precision of system.
Fig. 2 provides system of the present invention operational flowchart, as shown in the figure, the robot for aspiration biopsy of prostatic gland operating procedure is: at first pass through ultrasonic instrument, obtain the view data of prostata tissue, be input to computer system,, generate the position data of target spot through the specialist system calculating of software, by path planning, generate the optimal path of robot 3 terminal feedings and biopsy needle puncture again.Begin then to be punctured to after the target spot by the path feeding that generates, stop motion, 12 energisings of electromagnetic launch device, the firing button of triggering biopsy needle is finished tissue and is extracted the withdraw of the needle again.So once acupuncture treatment finishes, and the living tissue of preparing to carry out next time detects.
Claims (8)
1, a kind of robot for aspiration biopsy of prostatic gland, its composition comprises: the computer system (1) of accepting and handle the prostate ultrasound image data, Motoman robot (3), the driving device of acupuncture treatment mechanism (4) and motor (6) thereof, it is characterized in that: acupuncture treatment mechanism (4) is the end effector of robot (3), be fixed on the end of robot (3), acupuncture treatment mechanism (4) is by DC servo motor (6), base, two guide rails (7), V is with (8), front end supporting base (9), holding needle stand (10) and electromagnetic launch device constitutes, DC servo motor (6) links to each other with base, dismantle by V band tensioner (13), base is installed on two guide rails (7), links to each other with V band (8) by entrainment device (15).
2, robot for aspiration biopsy of prostatic gland according to claim 1, it is characterized in that: the described needle stand (10) of holding is gone up design link stopper (11) and cylindrical piece is arranged, describedly hold on the needle stand (10) also that design has pressing plate (14), by using pressing plate (14), biopsy needle is fixed on holds on the needle stand (10).
3, robot for aspiration biopsy of prostatic gland according to claim 1 and 2 is characterized in that: described front end supporting base (9) uses renewable bushing (17).
4, robot for aspiration biopsy of prostatic gland according to claim 1 and 2 is characterized in that: described electromagnetic launch device adopts electromagnet apparatus to trigger firing button.
5, robot for aspiration biopsy of prostatic gland according to claim 3 is characterized in that: described electromagnetic launch device adopts electromagnet apparatus to trigger firing button.
6, according to claim 1 or 2 or 5 described robot for aspiration biopsy of prostatic gland, it is characterized in that: described DC servo motor (6) has incremental optical-electricity encoder (16), and adopting Siemens S2-200PLC and small-scale control relay circuit accurately to control, described Motoman robot (3) is the UP6 humanoid robot with 6 degree of freedom of company of Shoudu Iron and Steel Co robot.
7, robot for aspiration biopsy of prostatic gland according to claim 3, it is characterized in that: described DC servo motor (6) has incremental optical-electricity encoder (16), and adopting Siemens S2-200PLC and small-scale control relay circuit accurately to control, described Motoman robot (3) is the UP6 humanoid robot with 6 degree of freedom of company of Shoudu Iron and Steel Co robot.
8, robot for aspiration biopsy of prostatic gland according to claim 4, it is characterized in that: described DC servo motor (6) has incremental optical-electricity encoder (16), and adopting Siemens S2-200PLC and small-scale control relay circuit accurately to control, described Motoman robot (3) is the UP6 humanoid robot with 6 degree of freedom of company of Shoudu Iron and Steel Co robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810064990A CN101632596A (en) | 2008-07-25 | 2008-07-25 | Robot for aspiration biopsy of prostatic gland |
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| CN200810064990A CN101632596A (en) | 2008-07-25 | 2008-07-25 | Robot for aspiration biopsy of prostatic gland |
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| CN101632596A true CN101632596A (en) | 2010-01-27 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102462536A (en) * | 2010-11-18 | 2012-05-23 | 无锡佑仁科技有限公司 | Duct propulsion operating device for vascular intervention surgical robot |
| CN103919577A (en) * | 2014-04-13 | 2014-07-16 | 哈尔滨理工大学 | Cantilever prostate biopsy robot |
| CN104688278A (en) * | 2015-03-11 | 2015-06-10 | 毕文志 | Bone tumor biopsy puncture needle |
| CN104856649A (en) * | 2015-04-24 | 2015-08-26 | 北京迈纳士手术机器人技术股份有限公司 | Method and device of identifying and puncturing blood vessels through infrared imaging and pressure changes |
| CN105056351A (en) * | 2015-07-31 | 2015-11-18 | 京东方科技集团股份有限公司 | Automatic needle inserting device |
| CN105327429A (en) * | 2015-10-21 | 2016-02-17 | 深圳市前海康启源科技有限公司 | Full-automatic injection device and full-automatic injection method capable of achieving automatic positioning and wound protection |
| CN105395240A (en) * | 2015-11-18 | 2016-03-16 | 山东科技大学 | Prostate living tissue puncture robot |
| CN107184255A (en) * | 2017-07-11 | 2017-09-22 | 哈尔滨理工大学 | A kind of ultrasonic per rectum prostate biopsy mechanism |
| CN109124770A (en) * | 2018-08-01 | 2019-01-04 | 复旦大学附属中山医院 | A kind of prostate biopsy robot |
| CN110292402A (en) * | 2019-07-29 | 2019-10-01 | 青岛市肿瘤医院 | A kind of prostate biopsy device |
| CN110567746A (en) * | 2019-09-17 | 2019-12-13 | 哈尔滨理工大学 | Experimental system for simulating measurement of prostate movement in vivo |
-
2008
- 2008-07-25 CN CN200810064990A patent/CN101632596A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102462536A (en) * | 2010-11-18 | 2012-05-23 | 无锡佑仁科技有限公司 | Duct propulsion operating device for vascular intervention surgical robot |
| CN103919577A (en) * | 2014-04-13 | 2014-07-16 | 哈尔滨理工大学 | Cantilever prostate biopsy robot |
| CN104688278A (en) * | 2015-03-11 | 2015-06-10 | 毕文志 | Bone tumor biopsy puncture needle |
| CN104856649A (en) * | 2015-04-24 | 2015-08-26 | 北京迈纳士手术机器人技术股份有限公司 | Method and device of identifying and puncturing blood vessels through infrared imaging and pressure changes |
| CN105056351B (en) * | 2015-07-31 | 2018-09-14 | 京东方科技集团股份有限公司 | A kind of automatic acupuncture treatment device |
| CN105056351A (en) * | 2015-07-31 | 2015-11-18 | 京东方科技集团股份有限公司 | Automatic needle inserting device |
| US10201668B2 (en) | 2015-07-31 | 2019-02-12 | Boe Technology Group Co., Ltd. | Automatic needle insertion apparatus |
| CN105327429A (en) * | 2015-10-21 | 2016-02-17 | 深圳市前海康启源科技有限公司 | Full-automatic injection device and full-automatic injection method capable of achieving automatic positioning and wound protection |
| CN105395240A (en) * | 2015-11-18 | 2016-03-16 | 山东科技大学 | Prostate living tissue puncture robot |
| CN107184255A (en) * | 2017-07-11 | 2017-09-22 | 哈尔滨理工大学 | A kind of ultrasonic per rectum prostate biopsy mechanism |
| CN107184255B (en) * | 2017-07-11 | 2023-07-21 | 哈尔滨理工大学 | Ultrasonic transrectal prostate puncture mechanism |
| CN109124770A (en) * | 2018-08-01 | 2019-01-04 | 复旦大学附属中山医院 | A kind of prostate biopsy robot |
| CN110292402A (en) * | 2019-07-29 | 2019-10-01 | 青岛市肿瘤医院 | A kind of prostate biopsy device |
| CN110292402B (en) * | 2019-07-29 | 2021-08-24 | 青岛市肿瘤医院 | Prostate puncture device |
| CN110567746A (en) * | 2019-09-17 | 2019-12-13 | 哈尔滨理工大学 | Experimental system for simulating measurement of prostate movement in vivo |
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Open date: 20100127 |