CN104739512A - Thoracocentesis surgical robot based on CT or MRI image navigation - Google Patents
Thoracocentesis surgical robot based on CT or MRI image navigation Download PDFInfo
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- CN104739512A CN104739512A CN201510091184.1A CN201510091184A CN104739512A CN 104739512 A CN104739512 A CN 104739512A CN 201510091184 A CN201510091184 A CN 201510091184A CN 104739512 A CN104739512 A CN 104739512A
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- leading screw
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3476—Powered trocars, e.g. electrosurgical cutting, lasers, powered knives
Abstract
The invention discloses a thoracocentesis surgical robot based on CT or MRI image navigation. The thoracocentesis surgical robot comprises an arc support module, a three-direction translation module and an angle adjusting module. The arc support module adjusts the position of a puncture head on the exterior of the human body chest through transmission of an inner-tooth matching gear and achieves automatic locking through a clutch mechanism. The three-direction translation module is composed of three sets of spiral transmission mechanisms so that the puncture position can be adjusted. The angle adjusting module has three freedom degrees which are the needle feeding tendency freedom degree, the needle feeding angle freedom degree and the needle feeding motion freedom degree. The thoracocentesis surgical robot enables a mechanical arm to feed a needle from any position and any angle outside the chest, motion of the robot can be automatically adjusted, the locating precision is high, and speed is high.
Description
Technical field
The present invention relates to medical instruments field, belong to the front subject of medical science, machinery, automatization's intersection, particularly based on the Needle-driven Robot of CT or MRI image-guidance.
Background technology
Along with improving constantly of modern medical techniques, traditional medical apparatus and instruments more and more can not meet the demand of people.Surgical machine man-based development step is more and more faster, and not only positioning precision is high for robotic assisted surgery, dexterity strong, and the wound caused patient is little, is convenient to post-operative recovery.For the thoracentesis robot based on CT (or MRI) image-guidance, the thoracic cavity profile that its work space can be described as people stretches out the region of approximate circle annular of 200-300mm, due to the restriction of CT (or MRI) instrument, the structure of robot very compactly could must effectively complete corresponding surgical action.Thoracic surgery robot is in the past many can not meet the requirement making mechanical arm outside optional position, angle inserting needle from thoracic cavity, and governing speed is slow, precision is low, makes robot autonomously to complete puncture and have very large difficulty.
Summary of the invention
The present invention provides a kind of thoracentesis operating robot based on CT or MRI image-guidance for solving in known technology the technical problem that exists, this robot can make mechanical arm from optional position, outside, thoracic cavity and arbitrarily angled inserting needle, and the motion of robot can adjust automatically, positioning precision is high, and speed is fast.
The technical scheme that the present invention takes for the technical problem existed in solution known technology is: a kind of thoracentesis operating robot based on CT or MRI image-guidance, comprises arc support module, three-dimensional translation module and angle adjustment module, described arc support module comprises point two arcs being located at front-end and back-end, and two described arcs are connected by the angle steadying plate that two are longitudinally arranged, and are connected with incomplete internal gear in the inner side of each described arc, the vertical mainboard in front end is provided with in the front of the described arc being positioned at front end, the vertical mainboard in rear end is provided with at the rear of the described arc being positioned at rear end, the vertical mainboard in described front end is connected by horizontal supporting shaft with the top of the vertical mainboard in described rear end, the bottom of the vertical mainboard of the vertical mainboard in described front end and described rear end is provided with horizontally disposed main shaft, respectively install in one in two ends of described main shaft and nibble pinion, nibble pinion in described to engage with corresponding described incomplete internal gear, the rear end of described main shaft is connected by rear end clutch with the vertical mainboard in described rear end, the input of described rear end clutch is connected with power source, described horizontal supporting shaft is provided with roll sleeve, and described horizontal supporting shaft is connected with the outer surface rolling friction of described arc by described roll sleeve, described three-dimensional translation module comprises left and right translation unit, anterior-posterior translation unit and upper and lower translation unit, described left and right translation unit comprises support I, and described support I is fixed on the vertical mainboard in described rear end by module connecting plates, described support I is provided with the leading screw I of horizontally set, described leading screw I is driven by motor I, described motor I is arranged on described support I, described leading screw I is provided with and its slider I be connected by motion thread, described slider I is affixed by the rear end of link and module support plate, the front end of described module support plate is provided with fixing slide block, and described fixing slide block coordinates with cross track, and described cross track is fixed on the vertical mainboard in described front end, described anterior-posterior translation unit comprises support II, and described support II is fixed on described module support plate, described support II is provided with leading screw II, described leading screw II is driven by motor II, described motor II is arranged on described module support plate, described leading screw II is provided with and its slide block II be connected by motion thread, described slide block II is crossed with the π shape affixed with it and stretches out plate, described upper and lower translation unit comprises two elevating screws of left and right distribution, the upper end of two described elevating screws is arranged in axle head fixing head, the lower end of two described elevating screws is arranged on described π shape and stretches out in plate, two described elevating screws are equipped with the lifting slider adopting motion thread to be connected with it, described lifting slider is connected with module support bracket, two described elevating screws are equipped with lifting driven gear, and described lifting driven gear engages with lifting driving gear, and described lifting driving gear is driven by motor III, and described motor III is arranged on described π shape and stretches out on plate, described angle adjustment module comprises the driving shaft gripper shoe affixed with described module support bracket, described driving shaft gripper shoe is connected with and wears a bent plate II, described wearing in a bent plate II and described driving shaft gripper shoe, the rotating driveshaft vertical with them is installed, described rotating driveshaft is provided with rotation driving gear, described rotating driveshaft is wound with rotary drive silk, described in described rotary drive silk passes, wears a bent plate II, described rotation driving gear and rotary drive gears meshing, described rotary drive gear is connected with swing screw turns, described swing leading screw is arranged on to be worn on a bent plate I, described driving shaft gripper shoe and leading screw base, a described bent plate I of wearing is fixed in described driving shaft gripper shoe, described swing leading screw is provided with the swing slide block that is connected by motion thread with it and swings driving wire, described swing driving wire to be wrapped on described swing leading screw and to wear a bent plate I described in passing, swing connecting bar is connected with between described driving shaft gripper shoe and described leading screw base, described leading screw base is connected with the hinge axis vertical with described swing leading screw, the lower end of described hinge axis and supporting plate is rotationally connected, and the middle part of described supporting plate is connected with described swing slide block by rocking bar, described supporting plate is provided with leading screw bearing, described leading screw bearing is provided with puncture leading screw, described puncture leading screw is provided with the puncture slide block and the driving wire that punctures that adopt motion thread to be connected with it, described puncture slide block is connected with out the puncture needle of mouth down, and the described leading screw bearing be positioned at below described puncture slide block is passed through in the bottom of described puncture needle.
The front end of described main shaft is connected by front end clutch with the vertical mainboard in described front end.
Castor is connected with in the lower end of each described arc.
Described power source adopts handwheel.
Described horizontal supporting shaft adopts two.
The advantage that the present invention has and good effect are:
One) compact conformation, can complete the adjustment of puncture needle position and angle at the CT of narrow space (or MRI) intracavity; Two) some freedom adopts the mode of silk transmission to realize, adjustment and the puncture precision of puncture needle can be improved, make robot itself and CT (MRI) instrument have good compatibility simultaneously, improve the readability of navigation picture, the precision of operation can be improved further; Three) motion of robot can adjust automatically, improves regulating the speed of puncture needle pose, accelerates the process of operation, reduce operation cost, alleviate the misery of patient; Four) in operation process, doctor can away from instrument and devices such as CT (or MRI) and radioactive particles, greatly reduces the labor intensity of doctor in operation process and surgical environments to the extent of injury of clinician body.
In sum, compact conformation of the present invention, volume is little, can be used in close-range particle to implant, the rigors of work space can be met, the function of each angle inserting needle from thoracic cavity can be realized, and positioning precision is high, locating speed is fast, easy to operate, can assist physician quick, accurately, complete hands art easily, and then reduce the misery of patient, and structural adjustment of the present invention is flexible, locating speed in operation process can be overcome slow, locate inaccurate drawback, can be widely applied in thoracentesis operation, for robot assisted micro-wound surgical operation opens up a new way, there is important theory significance and actual application value.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is angle adjustment modular structure schematic diagram of the present invention;
Fig. 3 is three-dimensional translation module structural representation of the present invention;
Fig. 4 is arc support modular structure schematic diagram of the present invention;
Fig. 5 is the upward view of Fig. 4.
In figure: 1, foot wheel; 2, arc; 3, incomplete internal gear; 4, puncture leading screw; 5, leading screw is swung; 6, rotating driveshaft; 7, motor I; 8, elevating screw; 9, leading screw II; 10, leading screw I; 11, hands wheel; 12, puncture needle; 13, hinge axis; 14, leading screw base; 15, supporting plate; 16, rocking bar; 17, leading screw bearing; 18, rotary drive gear; 19, a bent plate I is worn; 20, a bent plate II is worn; 21, driving gear is rotated; 22, driving shaft gripper shoe; 23, slide block is swung; 24, swing connecting bar; 25, fixing slide block; 26, cross track; 27, module support bracket; 28, support I; 29, support II; 30, motor III; 31, driven gear is elevated; 32, driving gear is elevated; 33, axle head fixing head; 34, lifting slider; 35, motor II; 36, link; 37, puncture slide block; 38, module support plate; 39, π shape stretches out plate; 40, slide block II; 41, junctional complex; 42, foot steadying plate; 43, the A portion of front end clutch; 44, the B portion of front end clutch; 45, the vertical mainboard in front end; 46, roll sleeve; 47, horizontal supporting shaft; 48, main shaft; 49, the vertical mainboard in rear end; 50, module connecting plates; 51, rear end clutch; 52, pinion is nibbled in; 53, rotary drive silk; 54, driving wire is swung; 55, puncture driving wire; 56, slider I.
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 thoracentesis operating robot based on CT or MRI image-guidance, comprises arc support module, three-dimensional translation module and angle adjustment module.
Refer to Fig. 1 and Fig. 4 ~ Fig. 5, described arc support module comprises point two arcs 2 being located at these robot front-end and back-end, two described arcs 2 are connected by the foot steadying plate 42 that two are longitudinally arranged, and are connected with incomplete internal gear 3 in the inner side of each described arc 2, the vertical mainboard 45 in front end is provided with in the front of the described arc 2 being positioned at front end, the vertical mainboard 49 in rear end is provided with at the rear of the described arc 2 being positioned at rear end, the vertical mainboard in described front end 45 is connected by least one horizontal supporting shaft 47 with the top of the vertical mainboard 49 in described rear end, the bottom of the vertical mainboard of the vertical mainboard in described front end 45 and described rear end 49 is provided with a horizontally disposed main shaft 48, respectively install in one in two ends of described main shaft 48 and nibble pinion 52, nibble pinion 52 in described to engage with corresponding described incomplete internal gear 3, the rear end of described main shaft 48 is connected by rear end clutch 51 with the vertical mainboard 49 in described rear end, the input of described rear end clutch 51 is connected with power source, described horizontal supporting shaft 47 is provided with roll sleeve 46, and described horizontal supporting shaft 47 is connected by the outer surface rolling friction of described roll sleeve 46 with described arc 2.
In the present embodiment, moving integrally for the ease of robot, is connected with castor 1 in the lower end of each described arc 2.For the ease of on-site manual operation, described power source adopts handwheel 11.Conveniently puncturing head adjusts in the position of torso model outside, and makes structure simple, stable, and described horizontal supporting shaft 47 adopts two.In order to Stability Analysis of Structures, make the stress balance of main shaft 48, the front end of described main shaft 48 is connected by front end clutch with the vertical mainboard 45 in described front end, in the present embodiment, castor 1 is affixed by junctional complex 41 with arc 2, and adjacent two junctional complexs 41 in front and back are linked together by foot steadying plate 42.
Above-mentioned arc support module nibbles mate gear transmission in can passing through realizes puncturing head and adjusts in the position of torso model outside, and realizes self-locking and power input function by clutch.
Refer to Fig. 1 and Fig. 3, described three-dimensional translation module comprises left and right translation unit, anterior-posterior translation unit and upper and lower translation unit; Described left and right translation unit comprises support I 28, and described support I 28 is fixed on the vertical mainboard 49 in described rear end by module connecting plates 50.Concrete structure is: described support I 28 is fixed on module connecting plates 50, and described module connecting plates 50 is fixed on the vertical mainboard 49 in described rear end.
Described support I 28 is provided with the leading screw I 10 of horizontally set, described leading screw I 10 is driven by motor I 7, described motor I 7 is arranged on described support I 28, described leading screw I 10 is provided with and its slider I 56 be connected by motion thread, described slider I 56 is affixed with the rear end of module support plate 38 by link 36, the front end of described module support plate 38 is provided with fixing slide block 25, described fixing slide block 25 coordinates with cross track 26, and described cross track 26 is fixed on the vertical mainboard 45 in described front end.
Described anterior-posterior translation unit comprises support II 29, and described support II 29 is fixed on described module support plate 38; Described support II 29 is provided with leading screw II 9, described leading screw II 9 is driven by motor II 35, described motor II 35 is arranged on described module support plate 38, described leading screw II 9 is provided with and its slide block II 40 be connected by motion thread, described slide block II 40 is crossed with the π shape affixed with it and stretches out plate 39.
Described upper and lower translation unit comprises two elevating screws 8 of left and right distribution, the upper end of two described elevating screws 8 is arranged in axle head fixing head 33, the lower end of two described elevating screws 8 is arranged on described π shape and stretches out in plate 39, two described elevating screws 8 are equipped with the lifting slider 34 adopting motion thread to be connected with it, described lifting slider 34 is connected with module support bracket 27; Two described elevating screws 8 are equipped with lifting driven gear 31, and described lifting driven gear 31 engages with lifting driving gear 32, and described lifting driving gear 32 is driven by motor III 30, and described motor III 30 is arranged on described π shape and stretches out on plate 39.
Refer to Fig. 1 and Fig. 2, described angle adjustment module comprises the driving shaft gripper shoe 22 affixed with described module support bracket 27, described driving shaft gripper shoe 22 is connected with and wears a bent plate II 20, described wearing in a bent plate II 20 and described driving shaft gripper shoe 22, the rotating driveshaft 6 vertical with them is installed, described rotating driveshaft 6 is provided with and rotates driving gear 21, described rotating driveshaft 6 is wound with rotary drive silk 53, described in described rotary drive silk 53 passes, wears a bent plate II 20.
Described rotation driving gear 21 engages with rotary drive gear 18, described rotary drive gear 18 is rotationally connected with swing leading screw 5, described swing leading screw 5 is arranged on to be worn on a bent plate I 19, described driving shaft gripper shoe 22 and leading screw base 14, a described bent plate I 19 of wearing is fixed in described driving shaft gripper shoe 22, described swing leading screw 5 is provided with the swing slide block 23 that is connected by motion thread with it and swings driving wire 54, described swing driving wire 54 to be wrapped on described swing leading screw 5 and to wear a bent plate I 19 described in passing; Swing connecting bar 24 is connected with between described driving shaft gripper shoe 22 and described leading screw base 14, described leading screw base 14 is connected with the hinge axis 13 vertical with described swing leading screw 5, described hinge axis 13 is rotationally connected with the lower end of supporting plate 15, and the middle part of described supporting plate 15 is connected with described swing slide block 23 by rocking bar 16; Described supporting plate 15 is provided with leading screw bearing 17, described leading screw bearing 17 is provided with puncture leading screw 4, described puncture leading screw 4 is provided with the puncture slide block 37 and the driving wire 55 that punctures that adopt motion thread to be connected with it, described puncture slide block 37 is connected with out the puncture needle 12 of mouth down, and the described leading screw bearing 17 be positioned at below described puncture slide block 37 is passed through in the bottom of described puncture needle 12.
Above-mentioned motor I 7, motor II 35 and motor III 30 all adopt motor.
Operation principle of the present invention:
Thoracentesis surgical machine man-hour is arranged on the sick bed of CT or (MRI) machine, and during work, arc support module cage is above patients abdomen.
Above-mentioned arc support module mainly realizes the rotation around arc 2 of three-dimensional translation module and angle adjustment module, make puncture position can cover thoracic cavity outline completely, this partial turn function is realized by the engaged transmission of nibbling pinion 52 in two incomplete internal gears 3 and two.During adjustment angle, first the A portion 43 of front end clutch is pulled up, make front end clutch separation, then handwheel 11 is pulled out along main shaft 48, rear end clutch 51 is separated, then operator rotates handwheel 11, for main shaft 48 provides driving torque, drive shaft 48 is rotated, nibble pinion 52 in making to rotate around incomplete internal gear 3, thus drive other two modules to rotate around arc 2 together, when corner reaches setting value, handwheel 11 is pushed back along main shaft 48, rear end clutch 51 is engaged, main shaft 48 is locked on the vertical mainboard 49 in rear end, it is made not rotate, complete self-locking, reinstall the A portion 43 of front end clutch simultaneously, front end clutch is engaged, main shaft 48 is locked on the vertical mainboard 45 in front end, it is made not rotate.The setting of front end clutch can make the stress balance situation of main shaft 48 better, and the overall structure stability of robot is better.
Above-mentioned three-dimensional translation module is primarily of three groups of mutually perpendicular screw-drive mechanism compositions, and for realizing the positioning function of puncture needle in torso model exterior three dimensional space, three groups of screw-drive mechanisms drive by motor, and separate between three.Leading screw I 10 can be first driven to drive angle adjustment module to carry out right position adjustment during location, after arriving commitment positions, drive leading screw II 9 to drive angle adjustment module to carry out front and back position adjustment again, finally drive elevating screw 8 to drive angle adjustment module to complete position fixing process.
Above-mentioned angle adjustment module can realize the motion of three degree of freedom, is puncture needle 12 respectively around swinging the rotational freedom of leading screw 5, the rotational freedom of puncture needle 12 around hinge axis 13 and the puncture degree of freedom of puncture needle 12.During adjustment, first the rotary drive silk 53 on rotating driveshaft 6 is pulled, driven rotary driving shaft 6, rotation driving gear 21 and rotary drive gear 18 rotate, thus drive swing connecting bar 24, leading screw base 14, hinge axis 13 and supporting plate 15 to move, finally pass motion to puncture needle 12, it is made to rotate around swing leading screw 5, to adjust the tendency of inserting needle; Then, by pulling the swing driving wire 54 being wrapped in and swinging leading screw 5 top, make swing slide block 23 drive rocking bar 16, rocking bar 16 drives the puncture needle 12 that supporting plate 15 and supporting plate 15 carry to rotate around hinge axis 13, completes the angle of inclination adjustment of inserting needle; Finally, after the tendency of inserting needle and angle of inclination have all adjusted, pull the puncture driving wire 55 being wrapped in puncture leading screw 4 top, driven puncture leading screw 4 to rotate, complete inserting needle motion to drive puncture needle 12.
The present invention is adjusted the inserting needle position of puncture needle, inserting needle tendency and needle angle by arc support module, three-dimensional translation module and angle adjustment module, can find accurately easily tail house locus and towards.
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 (5)
1. based on a thoracentesis operating robot for CT or MRI image-guidance, it is characterized in that, comprise arc support module, three-dimensional translation module and angle adjustment module;
Described arc support module comprises point two arcs being located at front-end and back-end, and two described arcs are connected by the angle steadying plate that two are longitudinally arranged, and are connected with incomplete internal gear in the inner side of each described arc, the vertical mainboard in front end is provided with in the front of the described arc being positioned at front end, the vertical mainboard in rear end is provided with at the rear of the described arc being positioned at rear end, the vertical mainboard in described front end is connected by horizontal supporting shaft with the top of the vertical mainboard in described rear end, the bottom of the vertical mainboard of the vertical mainboard in described front end and described rear end is provided with horizontally disposed main shaft, respectively install in one in two ends of described main shaft and nibble pinion, nibble pinion in described to engage with corresponding described incomplete internal gear, the rear end of described main shaft is connected by rear end clutch with the vertical mainboard in described rear end, the input of described rear end clutch is connected with power source, described horizontal supporting shaft is provided with roll sleeve, and described horizontal supporting shaft is connected with the outer surface rolling friction of described arc by described roll sleeve,
Described three-dimensional translation module comprises left and right translation unit, anterior-posterior translation unit and upper and lower translation unit; Described left and right translation unit comprises support I, and described support I is fixed on the vertical mainboard in described rear end by module connecting plates; Described support I is provided with the leading screw I of horizontally set, described leading screw I is driven by motor I, described motor I is arranged on described support I, described leading screw I is provided with and its slider I be connected by motion thread, described slider I is affixed by the rear end of link and module support plate, the front end of described module support plate is provided with fixing slide block, and described fixing slide block coordinates with cross track, and described cross track is fixed on the vertical mainboard in described front end; Described anterior-posterior translation unit comprises support II, and described support II is fixed on described module support plate; Described support II is provided with leading screw II, described leading screw II is driven by motor II, described motor II is arranged on described module support plate, described leading screw II is provided with and its slide block II be connected by motion thread, described slide block II is crossed with the π shape affixed with it and stretches out plate; Described upper and lower translation unit comprises two elevating screws of left and right distribution, the upper end of two described elevating screws is arranged in axle head fixing head, the lower end of two described elevating screws is arranged on described π shape and stretches out in plate, two described elevating screws are equipped with the lifting slider adopting motion thread to be connected with it, described lifting slider is connected with module support bracket; Two described elevating screws are equipped with lifting driven gear, and described lifting driven gear engages with lifting driving gear, and described lifting driving gear is driven by motor III, and described motor III is arranged on described π shape and stretches out on plate;
Described angle adjustment module comprises the driving shaft gripper shoe affixed with described module support bracket, described driving shaft gripper shoe is connected with and wears a bent plate II, described wearing in a bent plate II and described driving shaft gripper shoe, the rotating driveshaft vertical with them is installed, described rotating driveshaft is provided with rotation driving gear, described rotating driveshaft is wound with rotary drive silk, described in described rotary drive silk passes, wears a bent plate II; Described rotation driving gear and rotary drive gears meshing, described rotary drive gear is connected with swing screw turns, described swing leading screw is arranged on to be worn on a bent plate I, described driving shaft gripper shoe and leading screw base, a described bent plate I of wearing is fixed in described driving shaft gripper shoe, described swing leading screw is provided with the swing slide block that is connected by motion thread with it and swings driving wire, described swing driving wire to be wrapped on described swing leading screw and to wear a bent plate I described in passing; Swing connecting bar is connected with between described driving shaft gripper shoe and described leading screw base, described leading screw base is connected with the hinge axis vertical with described swing leading screw, the lower end of described hinge axis and supporting plate is rotationally connected, and the middle part of described supporting plate is connected with described swing slide block by rocking bar; Described supporting plate is provided with leading screw bearing, described leading screw bearing is provided with puncture leading screw, described puncture leading screw is provided with the puncture slide block and the driving wire that punctures that adopt motion thread to be connected with it, described puncture slide block is connected with out the puncture needle of mouth down, and the described leading screw bearing be positioned at below described puncture slide block is passed through in the bottom of described puncture needle.
2. the thoracentesis operating robot based on CT or MRI image-guidance according to claim 1, is characterized in that, the front end of described main shaft is connected by front end clutch with the vertical mainboard in described front end.
3. the thoracentesis operating robot based on CT or MRI image-guidance according to claim 1, is characterized in that, is connected with castor in the lower end of each described arc.
4. the thoracentesis operating robot based on CT or MRI image-guidance according to claim 1, is characterized in that, described power source adopts handwheel.
5. the thoracentesis operating robot based on CT or MRI image-guidance according to claim 1, it is characterized in that, described horizontal supporting shaft adopts two.
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| CN201510091184.1A CN104739512B (en) | 2015-02-28 | 2015-02-28 | Thoracocentesis surgical robot based on CT or MRI image navigation |
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| CN201510091184.1A CN104739512B (en) | 2015-02-28 | 2015-02-28 | Thoracocentesis surgical robot based on CT or MRI image navigation |
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| CN106344160A (en) * | 2016-11-03 | 2017-01-25 | 河北工业大学 | Surgical robot containing arc-shaped moving pair |
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