CN103417303B - Based on the nuclear magnetism compatibility surgical robot of silk transmission - Google Patents
Based on the nuclear magnetism compatibility surgical robot of silk transmission Download PDFInfo
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- CN103417303B CN103417303B CN201310360629.2A CN201310360629A CN103417303B CN 103417303 B CN103417303 B CN 103417303B CN 201310360629 A CN201310360629 A CN 201310360629A CN 103417303 B CN103417303 B CN 103417303B
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Abstract
The invention discloses a kind of nuclear magnetism compatibility surgical robot based on silk transmission, comprise base, lifting part, deflector and darted section; Described darted section is arranged on described deflector, and described deflector is arranged in described lifting part, and described lifting part is arranged on described base; Described darted section, described deflector and described lifting part all adopt a drive mechanism.The present invention extends the driving range of choices of robot greatly, and the common electric machine can not selected in existing mechanism drives and can be applied in silk drive mechanism, and common electric machine more easily realizes high accuracy and controls and export variable torque; And the silk transmission linearity is good, effectively can overcome the hysteresis phenomenon in pneumatic actuation, the precision also for improving acupuncture operation provides condition; In addition, driving element is placed in outside mechanism body by silk transmission, mechanism body is designed more compact, efficiently solves the problem of nuclear magnetic resonance spectrometer environment menisectomy limited space.
Description
Technical field
The present invention relates to accurate medical instruments field, belong to the front subject that machinery intersects with medical science, particularly by the acupuncture manipulator mechanism of silk transmission application under magnetic nuclear resonance environment.
Background technology
Current, utilize the radiation of Wicresoft close-range particle to carry out the mode of operation on prostate progressively ripe.In radiotherapy, often need doctor to utilize the method for acupuncture, manually by radioactive prospecting instrument focus, but due to this by the manually operated unstability of doctor, have a strong impact on the success rate of operation.Develop now the acupuncture operation robot under a kind of image-guidance, become the study hotspot of domestic and international medical instruments field.
Because NMR (Nuclear Magnetic Resonance)-imaging (MRI) can provide multi-faceted, multi-parameter information, and there is higher soft tissue resolution feature, under MRI guides, system can show the three-dimensional space position treating operation soft tissue and operating theater instruments in real time, thus produce many expedient surgical conditions, so the operating robot under current NMR (Nuclear Magnetic Resonance)-imaging (MRI) has become the primary study object of domestic and international many research institutions.They have also been invented multiple different surgical machine robot mechanism, neither affect NMR (Nuclear Magnetic Resonance) imaging effect, can realize again the acupuncture course of degree of precision under realizing nuclear-magnetism environment, adopt the pneumatic or compatible motor drive mode of nuclear-magnetism so general.Pneumatic actuation has hysteresis and the shortcoming such as non-linear; The compatible Motor torque of nuclear-magnetism is usually too little, can not meet robot power demand.Through consulting various data, the advantage such as find that the type of drive of silk transmission has that precision is high, the linear good and moment of torsion of transmission is adjustable.
Summary of the invention
The present invention provides a kind of nuclear magnetism compatibility surgical robot based on silk transmission for solving in known technology the technical problem that exists, and this robot has that precision is high, the linear good and advantage that moment of torsion is adjustable of transmission.
The technical scheme that the present invention takes for the technical problem existed in solution known technology is: a kind of nuclear magnetism compatibility surgical robot based on silk transmission, is characterized in that, comprises base, lifting part, deflector and darted section; Described darted section is arranged on described deflector, and described deflector is arranged in described lifting part, and described lifting part is arranged on described base; Described darted section, described deflector and described lifting part all adopt a drive mechanism.
Described lifting part is bilateral symmetry, comprising symmetrical front slide base plate, rear sliding floor, front fixed base plate and rear fixed base plate, and the left side structure of described lifting part comprises the lifting constraining rod set gradually from top to bottom, front lifting arm, rear lifting arm, frong guide column and BB1; The front end of described lifting constraining rod is connected by the upper end of connecting rod with described front lifting arm, the lower end of described front lifting arm and the left end of described front slide base plate affixed, described front slide base plate and described frong guide column are slidably connected, the upper end of described frong guide column and the left-front corner of top board affixed, the lower end of described frong guide column and the left end of described front fixed base plate affixed; The rear end of described lifting constraining rod and the upper end thereof of described rear lifting arm, the lower end of described rear lifting arm and the left end of described rear sliding floor affixed, described rear sliding floor and described BB1 are slidably connected, the upper end of described BB1 and the left rear corner of described top board affixed, the lower end of described BB1 and the left end of described rear fixed base plate affixed; The middle part of described front slide base plate is connected with front lifting threads of lead screw, the lower end of described front lifting leading screw by bearings on described base, the upper end of described front lifting leading screw by bearings on described top board, the middle part of described rear sliding floor is connected with rear lifting threads of lead screw, the lower end of described rear lifting leading screw by bearings on described base, the upper end of described rear lifting leading screw on described top board, described front lifting leading screw and described rear lifting leading screw is all wound with lifting driving wire by bearings.
Described deflector comprises front deflection mechanism, post deflection mechanism and tilt platform; Described front deflection mechanism and post deflection mechanism are equipped with deflection wire drive mechanism; Described deflection wire drive mechanism comprises the deflection leading screw be supported between two described lifting constraining rods, described deflection leading screw is provided with the leading truck be rotationally connected with it, described leading truck is provided with screw gathering sill, the deflection screw be slidably connected with it is provided with in described screw gathering sill, described deflection wire box thread is connected on described deflection leading screw, and described deflection leading screw is wound with deflection driving wire;
Described front deflection mechanism also comprises the suspension rod below the deflection screw being fixed on corresponding described deflection wire drive mechanism, and described suspension rod is provided with the bearing pin affixed with it, and described bearing pin is provided with the hinged casing be rotationally connected with it;
Described post deflection mechanism also comprises the hanging box below the deflection screw being fixed on corresponding described deflection wire drive mechanism, inside the lower frame of described hanging box, two ends are provided with two isometric deflection connecting rods be rotationally connected with it, the outer end of two described deflection connecting rods is provided with the deflection constraining rod be rotationally connected with it, the lower frame of described hanging box, two isometric described deflection connecting rods and a described deflection constraining rod form a parallelogram sturcutre, a tilt platform is provided with between described hinged casing and described constraining rod, front end and the described hinged casing of described tilt platform are affixed, the rear end of described tilt platform and the middle part of described deflection constraining rod hinged.
Described darted section comprises two bracing frames being fixed in described tilt platform two ends respectively, acupuncture leading screw is supported with between two support frames as described above, described acupuncture leading screw is provided with the acupuncture screw be threaded with it, the upper end of described acupuncture screw is provided with the slide block of evagination, gathering sill in the middle part of described slide block and a guide plate is slidably connected, the two ends of described guide plate are fixed on two support frames as described above respectively, described acupuncture leading screw is wound with acupuncture driving wire, described acupuncture screw is connected with puncture needle, and described puncture needle traverses through described suspension rod.
The advantage that the present invention has and good effect are: in actual application, silk transmission extends the driving range of choices of robot greatly, the common electric machine can not selected in existing mechanism drives and can be applied in silk drive mechanism, and common electric machine more easily realizes high accuracy and controls and export variable torque; With select compared with pneumatic actuation in existing mechanism, the silk transmission linearity is good, effectively overcomes the hysteresis phenomenon in pneumatic actuation, and the precision also for improving acupuncture operation provides condition; In addition, driving element is placed in outside mechanism body by silk transmission, mechanism body is designed more compact, efficiently solves the problem of nuclear magnetic resonance spectrometer environment menisectomy limited space.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is lifting part-structure schematic diagram of the present invention;
Fig. 3 is deflector structural representation of the present invention;
Fig. 4 is the structural representation that suspension rod of the present invention is connected with hinged casing;
Fig. 5 is darted section structural representation of the present invention.
In figure: 1, base, 2, rear fixed base plate, 3, fixing head, 4, front fixed base plate, 5, frong guide column, 6, BB1, 7, front lifting leading screw, 8, rear lifting leading screw, 9, front slide base plate, 10, front lifting arm, 11, rear sliding floor, 12, rear lifting arm, 13, top board, 14, connecting rod, 15, lifting constraining rod, 16, first guide pin bushing, 17, front deflection mechanism, 18, post deflection mechanism, 19, tilt platform, 20, deflection leading screw, 21, leading truck, 22, deflection screw, 23, second guide pin bushing, 24, suspension rod, 25, hinged casing, 26, bearing pin, 27, hanging box, 28, deflection connecting rod, 29, deflection constraining rod, 30, bracing frame, 31, acupuncture leading screw, 32, acupuncture screw, 33, guide plate, 34, 3rd guide pin bushing, 35, puncture needle.
Detailed description of the invention
For summary of the invention of the present invention, Characteristic can be understood further, hereby exemplify following examples, and coordinate accompanying drawing to be described in detail as follows:
Refer to Fig. 1 ~ Fig. 5, a kind of nuclear magnetism compatibility surgical robot based on silk transmission, comprise base 1, lifting part, deflector and darted section; Described darted section is arranged on described deflector, and described deflector is arranged in described lifting part, and described lifting part is arranged on described base; Described darted section, described deflector and described lifting part all adopt a drive mechanism.
In the present embodiment, above-mentioned lifting part is bilateral symmetry, comprising symmetrical front slide base plate 9, rear sliding floor 11, front fixed base plate 4 and rear fixed base plate 2, and the left side structure of described lifting part comprises the lifting constraining rod 15 set gradually from top to bottom, front lifting arm 10, rear lifting arm 12, frong guide column 5 and BB1 6, the front end of lifting constraining rod 15 is connected with the upper end of front lifting arm 10 by connecting rod 14, the lower end of described front lifting arm 10 and the left end of front slide base plate 9 affixed, front slide base plate 9 and frong guide column 5 are slidably connected, the upper end of frong guide column 5 and the left-front corner of top board 13 affixed, the lower end of frong guide column 5 and the left end of front fixed base plate 4 affixed, the rear end of lifting constraining rod 15 and the upper end thereof of rear lifting arm 12, the lower end of described rear lifting arm 12 and the left end of rear sliding floor 11 affixed, rear sliding floor 11 is slidably connected with BB1 6, the upper end of BB1 6 and the left rear corner of top board 13 affixed, the lower end of BB1 6 and the left end of rear fixed base plate 2 affixed, the middle part of front slide base plate 9 is threaded with front lifting leading screw 7, the lower end of front lifting leading screw 7 by bearings on base 1, the upper end of front lifting leading screw 7 by bearings on top board 13, the middle part of rear sliding floor 11 is threaded with rear lifting leading screw 8, the lower end of rear lifting leading screw 8 by bearings on base 1, the upper end of rear lifting leading screw 8 by bearings on top board 13, front lifting leading screw 7 and rear lifting leading screw 8 are all wound with lifting driving wire, lifting driving wire is installed in first guide pin bushing 16, first guide pin bushing 16 is fixed on fixing head 3, one end and the lifting constraining rod 15 of above-mentioned connecting rod 14 are hinged, the other end and front lifting arm 10 hinged.
In the present embodiment, above-mentioned deflector comprises front deflection mechanism 17, post deflection mechanism 18 and tilt platform 19.Described front deflection mechanism 17 and post deflection mechanism 18 are equipped with deflection wire drive mechanism, described deflection wire drive mechanism comprises the deflection leading screw 20 be supported between two lifting constraining rods 15, described deflection leading screw 20 is provided with the leading truck 21 be rotationally connected with it, described leading truck 21 is provided with screw gathering sill, the deflection screw 22 be slidably connected with it is provided with in screw gathering sill, described deflection screw 22 is threaded on deflection leading screw 20, described deflection leading screw 20 is wound with deflection driving wire, described deflection driving wire is installed in second guide pin bushing 23, second guide pin bushing 23 is fixed on leading truck 21.Described front deflection mechanism 17 also comprises the suspension rod 24 below the deflection screw 22 being fixed on corresponding described deflection wire drive mechanism, and described suspension rod 24 lower end is provided with the bearing pin 26 affixed with it, and described bearing pin 26 is provided with the hinged casing 25 be rotationally connected with it; Described post deflection mechanism 18 also comprises the hanging box 27 below the deflection screw 22 being fixed on corresponding described deflection wire drive mechanism, inside the lower frame of described hanging box 27, two ends are provided with two isometric deflection connecting rods 28 be rotationally connected with it, the outer end of two described deflection connecting rods 28 is provided with the deflection constraining rod 29 be rotationally connected with it, the lower frame of described hanging box 27, two isometric described deflection connecting rods 28 and a deflection constraining rod 29 form a parallelogram sturcutre, for compensating the degree of freedom of deflector.A tilt platform 19 is provided with between the hinged casing 25 and the deflection constraining rod 29 of described post deflection mechanism 18 of described front deflection mechanism 17, the front end of tilt platform 19 and the hinged casing 25 of described front deflection mechanism 17 affixed, the middle part of the rear end of tilt platform 19 and the deflection constraining rod 29 of described post deflection mechanism 18 is hinged.
In the present embodiment, above-mentioned darted section comprises two bracing frames 30 being fixed in tilt platform 19 two ends respectively, acupuncture leading screw 31 is supported with between two support frames as described above 30, acupuncture leading screw 31 is provided with the acupuncture screw 32 be threaded with it, the upper end of acupuncture screw 32 is provided with the slide block of evagination, gathering sill in the middle part of described slide block and a guide plate 33 is slidably connected, the two ends of described guide plate 33 are fixed on two bracing frames 30 respectively, acupuncture leading screw 31 is wound with acupuncture driving wire, acupuncture driving wire is installed in the 3rd guide pin bushing 34, 3rd guide pin bushing 34 is fixed on guide plate 33, described acupuncture screw 32 is connected with puncture needle 35, described puncture needle 35 traverses through described suspension rod 24.
Operation principle of the present invention:
First this operating robot is put between patient two lower limb before operation.As Fig. 1, one end of this number in the figure 27 is robot front end, and front end will just to focus in operation.In operation, before inserting needle, first should carry out the adjustment of puncture direction.From corresponding operative image navigation system, obtain patient part information, and carry out corresponding robot pose adjustment in real time, adjustment is divided into both direction, i.e. the adjustment of the angle of pitch up and down of vertical direction and the deflection angle adjustment of horizontal direction.
Wherein the adjustment of the angle of pitch up and down of vertical direction comprises the adjustment of two degree of freedom, and the adjustment of these two degree of freedom relies on lifting part to complete.As Fig. 2, two remote motors drive front lifting leading screw 7 and rear lifting leading screw 8 to rotate by the lifting driving wire in first guide pin bushing 16 respectively, the transmission rotating through screw pair of front lifting leading screw 7 and rear lifting leading screw 8 and the guiding of guide pillar 5,6, drive front slide base plate 9 and rear sliding floor 11 upward-downward translation respectively, be fixed in front lifting arm 10 on sliding floor and rear lifting arm 12 also will distinguish upward-downward translation, meanwhile, the lifting constraining rod 15 be rotationally connected with rear lifting arm 12 and connecting rod 14 will realize upward-downward translation or elevating movement.When the synchronized in the same way rotation of two remote motors, by above-mentioned transmission process, lifting constraining rod 15 will realize upward-downward translation, otherwise lifting constraining rod 15 will realize upper and lower elevating movement.As Fig. 3, to be formed with the two ends of the lifting constraining rod 15 of lifting part respectively by front deflection mechanism 17 and post deflection mechanism 18 because described deflector is overall and be rotationally connected, so deflector integrated support is in lifting part top, upward-downward translation or pitching up and down will be realized with lifting constraining rod 15, reach the object of the upper and lower angle of pitch of adjustment vertical direction.
The pose adjustment of horizontal direction also comprises the adjustment of two degree of freedom, the adjustment of these two degree of freedom relies on deflector to realize, as Fig. 3, two remote motors drive the deflection leading screw 20 in front deflection mechanism 17 and post deflection mechanism 18 to rotate by the deflection driving wire in second guide pin bushing 23 respectively, the rotation of deflection leading screw 20 is again by the transmission of screw pair and the guiding of leading truck 21, drive the translation of deflection screw about 22, suspension rod 24 in front deflection mechanism 17 and the hanging box 27 in post deflection mechanism also will realize left and right translation respectively, along with the left and right translation of described suspension rod 24 and hanging box 27, tilt platform 19 will realize left and right translation or deflection.When the synchronized in the same way rotation of two remote motors, by above-mentioned transmission process, tilt platform 19 will realize left and right translation, otherwise tilt platform 19 will realize deflection, thus reach the object at adjustment horizontal direction deflection angle.
After pose adjustment, carry out puncture inserting needle, realize the 5th degree of freedom.As Fig. 5, puncture needle 35 with medical radioactive particle is fixed on acupuncture screw 32, and leant out from robot front end by the aperture on Fig. 4 middle hanger 24, a remote motor drives acupuncture leading screw 31 to rotate by the acupuncture driving wire in the 3rd guide pin bushing 34, acupuncture leading screw 31 rotates and by the transmission of screw pair and the guiding of guide plate 33, drive translation before and after acupuncture screw 32 and the puncture needle 35 that is mounted thereon, thus the puncture inserting needle realized focus or the withdraw of the needle.
Although be described the preferred embodiments of the present invention by reference to the accompanying drawings above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; be not restrictive; those of ordinary skill in the art is under enlightenment of the present invention; do not departing under the ambit that present inventive concept and claim protects, can also make a lot of form, these all belong within protection scope of the present invention.
Claims (3)
1. based on a nuclear magnetism compatibility surgical robot for silk transmission, it is characterized in that, comprise base, lifting part, deflector and darted section; Described darted section is arranged on described deflector, and described deflector is arranged in described lifting part, and described lifting part is arranged on described base; Described darted section, described deflector and described lifting part all adopt a drive mechanism;
Described lifting part is bilateral symmetry, comprising symmetrical front slide base plate, rear sliding floor, front fixed base plate and rear fixed base plate, and the left side structure of described lifting part comprises the lifting constraining rod set gradually from top to bottom, front lifting arm, rear lifting arm, frong guide column and BB1; The front end of described lifting constraining rod is connected by the upper end of connecting rod with described front lifting arm, the lower end of described front lifting arm and the left end of described front slide base plate affixed, described front slide base plate and described frong guide column are slidably connected, the upper end of described frong guide column and the left-front corner of top board affixed, the lower end of described frong guide column and the left end of described front fixed base plate affixed; The rear end of described lifting constraining rod and the upper end thereof of described rear lifting arm, the lower end of described rear lifting arm and the left end of described rear sliding floor affixed, described rear sliding floor and described BB1 are slidably connected, the upper end of described BB1 and the left rear corner of described top board affixed, the lower end of described BB1 and the left end of described rear fixed base plate affixed; The middle part of described front slide base plate is connected with front lifting threads of lead screw, the lower end of described front lifting leading screw by bearings on described base, the upper end of described front lifting leading screw by bearings on described top board, the middle part of described rear sliding floor is connected with rear lifting threads of lead screw, the lower end of described rear lifting leading screw by bearings on described base, the upper end of described rear lifting leading screw on described top board, described front lifting leading screw and described rear lifting leading screw is all wound with lifting driving wire by bearings.
2. the nuclear magnetism compatibility surgical robot based on silk transmission according to claim 1, is characterized in that, described deflector comprises front deflection mechanism, post deflection mechanism and tilt platform; Described front deflection mechanism and post deflection mechanism are equipped with deflection wire drive mechanism; Described deflection wire drive mechanism comprises the deflection leading screw be supported between two described lifting constraining rods, described deflection leading screw is provided with the leading truck be rotationally connected with it, described leading truck is provided with screw gathering sill, the deflection screw be slidably connected with it is provided with in described screw gathering sill, described deflection wire box thread is connected on described deflection leading screw, and described deflection leading screw is wound with deflection driving wire;
Described front deflection mechanism also comprises the suspension rod below the deflection screw being fixed on corresponding described deflection wire drive mechanism, and described suspension rod is provided with the bearing pin affixed with it, and described bearing pin is provided with the hinged casing be rotationally connected with it;
Described post deflection mechanism also comprises the hanging box below the deflection screw being fixed on corresponding described deflection wire drive mechanism, inside the lower frame of described hanging box, two ends are provided with two isometric deflection connecting rods be rotationally connected with it, the outer end of two described deflection connecting rods is provided with the deflection constraining rod be rotationally connected with it, the lower frame of described hanging box, two isometric described deflection connecting rods and a described deflection constraining rod form a parallelogram sturcutre, a tilt platform is provided with between described hinged casing and described deflection constraining rod, front end and the described hinged casing of described tilt platform are affixed, the rear end of described tilt platform and the middle part of described deflection constraining rod hinged.
3. the nuclear magnetism compatibility surgical robot based on silk transmission according to claim 2, it is characterized in that, described darted section comprises two bracing frames being fixed in described tilt platform two ends respectively, acupuncture leading screw is supported with between two support frames as described above, described acupuncture leading screw is provided with the acupuncture screw be threaded with it, the upper end of described acupuncture screw is provided with the slide block of evagination, gathering sill in the middle part of described slide block and a guide plate is slidably connected, the two ends of described guide plate are fixed on two support frames as described above respectively, described acupuncture leading screw is wound with acupuncture driving wire, described acupuncture screw is connected with puncture needle, described puncture needle traverses through described suspension rod.
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| CN201310360629.2A CN103417303B (en) | 2013-08-16 | 2013-08-16 | Based on the nuclear magnetism compatibility surgical robot of silk transmission |
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| CN201310360629.2A CN103417303B (en) | 2013-08-16 | 2013-08-16 | Based on the nuclear magnetism compatibility surgical robot of silk transmission |
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| CN103417303B true CN103417303B (en) | 2016-01-20 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104147689A (en) * | 2014-03-24 | 2014-11-19 | 天津大学 | Mechanism for breast puncture operation under nuclear magnetic image navigation |
| CN103876786B (en) * | 2014-04-13 | 2015-11-04 | 哈尔滨理工大学 | Robot is got involved with the mammary gland of nuclear magnetic resonance, NMR compatibility |
| CN104288904B (en) * | 2014-11-07 | 2017-09-22 | 北京大学深圳医院 | Radioactive prospecting instrument equipment |
| CN104622575B (en) * | 2014-12-29 | 2017-01-04 | 天津大学 | A kind of micro-wound operation robot main manipulator based on wire rope gearing |
| CN104623797A (en) * | 2015-02-16 | 2015-05-20 | 天津大学 | Near-distance image navigation full-automatic radioactive particle implanting device |
| CN104739512B (en) * | 2015-02-28 | 2017-01-11 | 天津大学 | Thoracocentesis surgical robot based on CT or MRI image navigation |
| CN104825231B (en) * | 2015-04-30 | 2017-09-26 | 中国科学技术大学先进技术研究院 | A kind of minimally invasive intervention operation robot of guided by magnetic resonance breast cancer and its control method |
| CN107625543B (en) * | 2017-06-02 | 2021-01-19 | 北京邮电大学 | Magnetic resonance compatible handheld flexible interventional needle system |
| EP3745983A4 (en) * | 2018-01-29 | 2021-11-03 | The University of Hong Kong | Robotic stereotactic system for mri-guided neurosurgery |
| CN114431940B (en) * | 2022-04-02 | 2022-06-24 | 真健康（北京）医疗科技有限公司 | Four-degree-of-freedom puncture needle positioning and guiding device based on RCM structure |
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