CN102113905B - Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment - Google Patents
Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment Download PDFInfo
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- CN102113905B CN102113905B CN201110027106A CN201110027106A CN102113905B CN 102113905 B CN102113905 B CN 102113905B CN 201110027106 A CN201110027106 A CN 201110027106A CN 201110027106 A CN201110027106 A CN 201110027106A CN 102113905 B CN102113905 B CN 102113905B
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Abstract
The invention discloses a novel acupuncture surgery manipulator mechanism in a nuclear magnetic resonance environment, and five degrees of freedom are distributed in three independent modules for implementation. A bottom-layer module consists of a screw-rod sliding rail mechanism, and two sets of gear rack mechanisms which are different, and the screw-rod sliding rail mechanism and one set of gear rack mechanism cooperates to realize the uplifting motion of a device under the control of a cylinder; and the other set of gear rack mechanism realizes the horizontal swinging of the device under the control of another cylinder; platforms of a middle-layer module realize pitching motion and translational motion in the horizontal plane of the device through the rotating of an ultrasonic motor and the pushing of the cylinder respectively; and an acupuncture-layer module realizes the acupuncture motion, and linear feed motion of an acupuncture body in the horizontal direction is realized through the rotating of the ultrasonic motor by the screw-rod sliding rail mechanism. By adopting the novel acupuncture surgery manipulator mechanism with the structure, vertical, horizontal, inclined and swinging motion in large range can be realized; and simultaneously the structure is simple to be capable of helping an acupuncture surgery be finished in a limited space of a nuclear magnetism instrument, and the accuracy of the surgery is improved to a greater extent.
Description
Technical field
The present invention relates to acupuncture operation manipulator mechanism, be specifically related to the novel pin thorn operation manipulator mechanism under the magnetic nuclear resonance environment.
Background technology
Current, the main method of carrying out operation on prostate is closely corpuscular radiation treatment of Wicresoft.Operation process is implanted prostate through acupuncture with radioactive particle, carries out local radiotherapy.And the acupuncture of usually manually carrying out operation, to face mostly low precision, can't realtime imaging shortcoming; For the track of planning in advance, also may be because of the moving and the stimulation of acupuncture of patient body for soft tissue, and can't realize the effect estimated.And the means of or robot arm realization high accuracy acupuncture auxiliary through robot arm can well address these problems.
NMR-imaging (MRI) is compared with traditional X ray, CT; Can avoid x x radiation x to healthy cell; And there are good soft tissue resolving power and precise geometrical to learn characteristic, can lean out lesion region more accurately, to guarantee rational track optimizing; And the judgement to lesion portion is more accurate, to guarantee to implant the particle position precision.The patent No. be the Chinese patent of CN201010137726.1 disclose " a kind of acupuncture manipulator mechanism that is applied to magnetic nuclear resonance environment ", the control through to the active sliding block of six slide block forks realizes the motion of robot arm.Wherein, lower floor is made up of four slide block swing-bar mechanisms, and front and back two covers are relatively independent; Every cover is made up of two slide block swing-bar mechanisms; Shared cylinder control realizes being synchronized with the movement, and front and back two covers are then controlled by difference cylinder respectively; Asynchronous movement, realize mechanism about, about, tilt, wave the motion of four degree of freedom.The acupuncture campaign, by the leading screw sliding track mechanism, the rotation through supersonic motor realizes needle body straight-line feed motion in the horizontal direction.Adopt this mechanism can overcome the untimely drawback difficult of imaging effect of acupuncture operation, the very big precision of the raising of degree operation, the success property of performing the operation and integrity with trajectory planning.But this patented technology exists upper platform to be supported by fork, and rigidity is lower, the problem of easy swing.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art; Provide a kind of and can realize real-time control; In limited space, improve the precision of acupuncture operation, the acupuncture operation manipulator mechanism under misery and the magnetic nuclear resonance environment that rigidity is high of minimizing patient operation.
Acupuncture operation manipulator mechanism under the magnetic nuclear resonance environment of the present invention; It comprises bottom module, middle level module and the acupuncture layer module that is provided with in order from bottom to up; Described bottom module comprises underlying platform; Described middle level module comprises the middle level platform; Described acupuncture layer module comprises the acupuncture platform, on described acupuncture platform, second supersonic motor is installed, and the output shaft of described second supersonic motor links to each other with first leading screw; Described first leading screw is connected through bearing with leading screw seat on being fixed on the acupuncture platform; The both sides that are enclosed within the nut on first leading screw are enclosed within on the feed rod separately, and the two ends of two feed rods are connected on the leading screw seat, on described nut, are connected with operation needle; Between described underlying platform and middle level platform, be provided with the nut platform; The first leading screw sliding track mechanism is installed on described underlying platform, and the slide block of the described first leading screw sliding track mechanism and first tooth bar are fixedly linked, described first tooth bar be rotatably installed in the cooperation that is meshed of wobble gear on second leading screw through clutch shaft bearing; Described nut platform is connected on second leading screw that is positioned at the wobble gear top; One end and the wobble gear of at least two leads are fixedly linked, the other end of at least two leads be inserted in the perforate on the nut platform and with described perforate mutually slippage cooperate cooperation that the bottom of described second leading screw vertically is rotatably connected on the described underlying platform through second bearing and its top and nut platform are threaded mutually; On the bottom surface of described wobble gear, be connected with the second leading screw sliding track mechanism; The slide block of the described second leading screw sliding track mechanism and second tooth bar are fixedly linked, and the cooperation that is meshed with lifting gear on second leading screw that is installed between underlying platform and the wobble gear of described second tooth bar is equipped with first supersonic motor on described nut platform; The output shaft along continuous straight runs setting of described first supersonic motor also is fixedly linked with the middle level platform; The setting that is perpendicular to one another with the output shaft of first supersonic motor of described second leading screw is connected with the 3rd leading screw sliding track mechanism on the bottom surface of described middle level platform, the slide block and the fork of described the 3rd leading screw sliding track mechanism are fixedly linked; On the platform of described middle level, have the line slideway groove; On described acupuncture platform, have the oblique gathering sill with the angled setting of described line slideway groove, described fork is inserted in the described oblique gathering sill through the line slideway groove, the setting that is perpendicular to one another with the output shaft of first supersonic motor of the direction of motion of the slide block of described the 3rd leading screw sliding track mechanism.
Outstanding advantage of the present invention is:
Structure of the present invention is flexible, about mechanisms such as integrated use rack-and-pinion, feed screw nut, fork chute can realize on a large scale, about, inclination and oscillating motion; The while compact conformation; Cylinder arrangement is ingenious; Can in the nuclear magnetic resonance spectrometer confined space, assist and accomplish the acupuncture operation, overcome the untimely drawback difficult of imaging effect, the greatly precision of the raising of degree operation in the operation process with trajectory planning; The successful property and the integrity of operation, thus opened up new approach for NMR-imaging (MRI) guided robot assisted minimally invasive surgical operation.
Description of drawings
Fig. 1 is the structural perspective of the acupuncture operation manipulator mechanism under the magnetic nuclear resonance environment of the present invention;
Fig. 2 is the bottom module vertical view of mechanism shown in Figure 1;
Fig. 3 is the local upwarding cutaway view of the bottom of mechanism shown in Figure 1;
Fig. 4 is the middle level platform upward view of mechanism shown in Figure 1;
Fig. 5 is the acupuncture platform vertical view of mechanism shown in Figure 1.
The specific embodiment
Below in conjunction with concrete embodiment, and, technology of the present invention is done further explanation with reference to accompanying drawing:
As shown in the figure; Acupuncture operation manipulator mechanism under the magnetic nuclear resonance environment; It comprises bottom module, middle level module and the acupuncture layer module that is provided with in order from bottom to up, and described bottom module comprises underlying platform 2, and described middle level module comprises middle level platform 21; Described acupuncture layer module comprises acupuncture platform 24; Second supersonic motor 29 is installed on described acupuncture platform, and the output shaft of described second supersonic motor 29 links to each other with first leading screw 28, and described first leading screw 28 is connected through bearing with leading screw seat 26 on being fixed on the acupuncture platform; The both sides that are enclosed within the nut on first leading screw 28 are enclosed within on the feed rod separately; The two ends of two feed rods 27 are connected on the leading screw seat, on described nut, are connected with operation needle 25, between described underlying platform and middle level platform, are provided with the nut platform; The first leading screw sliding track mechanism is installed on described underlying platform; The slide block of the described first leading screw sliding track mechanism and first tooth bar 5 are fixedly linked, the cooperation that is meshed with wobble gear 3 be rotatably installed in second leading screw 4 through clutch shaft bearing on of described first tooth bar 5, and described nut platform is connected on second leading screw that is positioned at the wobble gear top; One end and the wobble gear of at least two leads 13 are fixedly linked, the other end of at least two leads be inserted in the perforate on the nut platform and with described perforate mutually slippage cooperate.Cooperation that the bottom of described second leading screw vertically is rotatably connected on the described underlying platform 2 through second bearing and its top and nut platform are threaded mutually; On the bottom surface of described wobble gear, be connected with the second leading screw sliding track mechanism; The slide block of the described second leading screw sliding track mechanism and second tooth bar 11 are fixedly linked; The cooperation that is meshed with lifting gear 12 on second leading screw 4 that is installed between underlying platform and the wobble gear of described second tooth bar; First supersonic motor 22 is installed on described nut platform; The output shaft along continuous straight runs setting of described first supersonic motor also is fixedly linked with middle level platform 21; The setting that is perpendicular to one another with the output shaft of first supersonic motor 22 of described second leading screw 4 is connected with the 3rd leading screw sliding track mechanism on the bottom surface of described middle level platform, the slide block 17 and the fork 18 of described the 3rd leading screw sliding track mechanism are fixedly linked; On described middle level platform 21, have line slideway groove 20; On described acupuncture platform, have the oblique gathering sill with the angled setting of described line slideway groove, described fork is inserted in the described oblique gathering sill 30 through the line slideway groove, the setting that is perpendicular to one another with the output shaft of first supersonic motor of the direction of motion of the slide block of described the 3rd leading screw sliding track mechanism.
As Fig. 2,3, shown in 4 as one embodiment of the present invention; The described first leading screw sliding track mechanism comprises first line slideway 7 that is installed on the underlying platform and is installed in first cylinder 1 on the underlying platform through bearing block; First line slideway is provided with first slide block 6 that is slidingly connected with it, and a side of described first slide block links to each other with the piston rod of first cylinder 1 and its opposite side and first tooth bar 5 are fixedly linked.
The described second leading screw sliding track mechanism comprises second line slideway 14 that is installed on wobble gear 3 bottom surfaces and is installed in second cylinder 8 on the underlying platform through bearing block 9; The side that second line slideway is provided with second slide block, 15, the second slide blocks that are slidingly connected with it links to each other with the piston rod 10 of second cylinder 8 and its opposite side and second tooth bar 11 are fixedly linked.
Described the 3rd leading screw sliding track mechanism comprises the 3rd line slideway 19 that is installed on middle level platform 21 bottom surfaces and is installed in the 3rd cylinder 16 on middle level platform 21 bottom surfaces through bearing block; The side that the 3rd line slideway is provided with the 3rd slide block 17, the three slide blocks 17 that are slidingly connected with it links to each other with the piston rod of the 3rd cylinder 16 and its opposite side and fork are fixedly linked.
Certain described leading screw sliding track mechanism also can adopt motor-nut screw structure.
The work process of this device is following:
The lifting campaign: cylinder piston rod 10 promotions second slide block 15 that links to each other with air pump through control moves along second line slideway 14; Thereby realize moving of second tooth bar, 11 horizontal directions, rotate around vertical direction, reach the rotation of second leading screw 4 to drive lifting gear 12; The top of second leading screw 4 and nut platform are for being threaded; According to the screw-nut body principle, the mutarotation transhipment is moving to be rectilinear motion, and then the lifting campaign of implement device.Through controlling the rotation of first supersonic motor 22, realize the elevating movement of middle level platform 21, middle level platform and acupuncture layer platform 24 are consolidated through fork 18, and then the elevating movement of implement device.
Translational motion: the 3rd cylinder 16 that links to each other with air pump through control makes piston rod promotion slide block 17 move horizontally along the 3rd line slideway 19; And then the motion of realization fork 18 in line slideway groove 20; Because the middle level platform is consolidated through fork 18 and acupuncture platform, so fork 18 motion in oblique gathering sill 30 simultaneously, under straight-line groove and the common constraint of oblique slot; Reach acupuncture platform 24 and move horizontally, and then the moving horizontally of implement device.First cylinder 1 that links to each other with air pump through control makes piston rod promotion slide block 6 move horizontally along first line slideway 7; Thereby realize moving of first tooth bar, 5 horizontal directions; Rotate around vertical direction to drive wobble gear 3; Wobble gear 3 and second leading screw 4, middle level platform 21 are consolidated, and then swing in the horizontal plane of implement device.
Acupuncture campaign: through second supersonic motor 29, make first leading screw 28 drive operation needles 25 motions, will move and power is passed to needle point, realization acupuncture operation.
Therefore, through the cooperation of translational motion and lifting campaign, realize the adjustment of needle body spatial pose; Through the acupuncture campaign, finally realize the acupuncture operation.
Claims (1)
1. the acupuncture under magnetic nuclear resonance environment operation manipulator mechanism; It comprises bottom module, middle level module and the acupuncture layer module that is provided with in order from bottom to up; Described bottom module comprises underlying platform; Described middle level module comprises the middle level platform; Described acupuncture layer module comprises the acupuncture platform, on described acupuncture platform, second supersonic motor is installed, and the output shaft of described second supersonic motor links to each other with first leading screw; Described first leading screw is connected through bearing with leading screw seat on being fixed on the acupuncture platform; The both sides that are enclosed within the nut on first leading screw are enclosed within respectively on the feed rod, and the two ends of two feed rods are connected on the leading screw seat, on described nut, are connected with operation needle; It is characterized in that: between described underlying platform and middle level platform, be provided with the nut platform; The first leading screw sliding track mechanism is installed on described underlying platform, and the slide block of the described first leading screw sliding track mechanism and first tooth bar are fixedly linked, described first tooth bar be rotatably installed in the cooperation that is meshed of wobble gear on second leading screw through clutch shaft bearing; Described nut platform is connected on second leading screw that is positioned at the wobble gear top; One end and the wobble gear of at least two leads are fixedly linked, the other end of at least two leads be inserted in the perforate on the nut platform and with described perforate mutually slippage cooperate cooperation that the bottom of described second leading screw vertically is rotatably connected on the described underlying platform through second bearing and its top and nut platform are threaded mutually; On the bottom surface of described wobble gear, be connected with the second leading screw sliding track mechanism; The slide block of the described second leading screw sliding track mechanism and second tooth bar are fixedly linked, and the cooperation that is meshed with lifting gear on second leading screw that is installed between underlying platform and the wobble gear of described second tooth bar is equipped with first supersonic motor on described nut platform; The output shaft along continuous straight runs setting of described first supersonic motor also is fixedly linked with the middle level platform; The setting that is perpendicular to one another with the output shaft of first supersonic motor of described second leading screw is connected with the 3rd leading screw sliding track mechanism on the bottom surface of described middle level platform, the slide block and the fork of described the 3rd leading screw sliding track mechanism are fixedly linked; On the platform of described middle level, have the line slideway groove; On described acupuncture platform, have the oblique gathering sill with the angled setting of described line slideway groove, described fork is inserted in the described oblique gathering sill through the line slideway groove, the setting that is perpendicular to one another with the output shaft of first supersonic motor of the direction of motion of the slide block of described the 3rd leading screw sliding track mechanism.
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CN201110027106A CN102113905B (en) | 2011-01-25 | 2011-01-25 | Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment |
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CN201110027106A CN102113905B (en) | 2011-01-25 | 2011-01-25 | Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment |
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CN102499726A (en) * | 2011-11-09 | 2012-06-20 | 天津大学 | Close-distance minimally-invasive manipulator mechanism for nuclear magnetic resonance imaging environment |
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CN112569461B (en) * | 2020-11-26 | 2022-12-27 | 哈尔滨理工大学 | Pneumatic prostate particle implantation mechanism |
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US20070078466A1 (en) * | 2005-09-30 | 2007-04-05 | Restoration Robotics, Inc. | Methods for harvesting follicular units using an automated system |
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CN101411631A (en) * | 2008-11-21 | 2009-04-22 | 南开大学 | Controlling mechanism of five-freedom degree vertebral column minimally invasive robot |
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