CN104739512B - 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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- CN104739512B CN104739512B CN201510091184.1A CN201510091184A CN104739512B CN 104739512 B CN104739512 B CN 104739512B CN 201510091184 A CN201510091184 A CN 201510091184A CN 104739512 B CN104739512 B CN 104739512B
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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
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- Engineering & Computer Science (AREA)
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- Heart & Thoracic Surgery (AREA)
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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 medical science, machinery, the front subject of automatization's intersection, particularly to base
In the Needle-driven Robot that CT or MRI image navigate.
Background technology
Along with improving constantly of modern medical techniques, traditional medical apparatus and instruments increasingly can not meet the demand of people.Operation
Machine man-based development step is increasingly faster, and robotic assisted surgery not only positioning precision is high, dexterity is strong, and to patient
The wound caused is little, it is simple to post-operative recovery.For thoracentesis robot based on CT (or MRI) image-guidance,
Its work space can be described as the thoracic cavity profile of people and stretches out the region of approximate circle annular of 200-300mm, due to CT
The restriction of (or MRI) instrument, the structure of robot extremely compact just must can efficiently accomplish corresponding surgical action.With
Past thoracic surgery robot is many can not be met and make mechanical arm outside optional position, requirement of angle inserting needle from thoracic cavity, and
Governing speed is slow, precision is low, make robot autonomous complete to puncture there is the biggest difficulty.
Summary of the invention
The present invention solves that technical problem present in known technology provides a kind of breast navigated based on CT or MRI image
Chamber puncturing operation robot, this robot can make mechanical arm optional position and arbitrarily angled inserting needle outside thoracic cavity, and
The motion of robot can be automatically adjusted, and positioning precision is high, and speed is fast.
The present invention solves that technical problem is adopted the technical scheme that present in known technology: a kind of based on CT or MRI
The thoracentesis operating robot of image-guidance, including arc support module, three-dimensional translation module and angle adjustment module；
Described arc support module includes setting up separately two arcs in front-end and back-end, and two described arcs are vertical by two edges
Connect to the angle steadying plate arranged, be connected with incomplete internal gear in the inner side of each described arc；It is being positioned at front end
The front of described arc is provided with the vertical mainboard in front end, is provided with rear end at the rear of the described arc being positioned at rear end and vertically leads
Plate, the top of the vertical mainboard of the vertical mainboard in described front end and described rear end is connected by horizontal supporting shaft, and described front end is vertical
The bottom of the vertical mainboard of mainboard and described rear end is provided with horizontally disposed main shaft, respectively installs in two ends of described main shaft
Nibble little gear in one, described in nibble little gear and the engagement of corresponding described incomplete internal gear, the rear end of described main shaft and institute
Stating the vertical mainboard in rear end to be connected by rear end clutch, the input of described rear end clutch is connected with power source；Described
Being provided with roll sleeve on horizontal supporting shaft, described horizontal supporting shaft is rolled by the outer surface of described roll sleeve with described arc
Frictional connection；Described three-dimensional translation module includes left and right translation unit, anterior-posterior translation unit and upper and lower translation unit；Described
Left and right translation unit includes that support I, described support I are fixed on the vertical mainboard in described rear end by module connecting plates；?
Being provided with the leading screw I of horizontally set on described support I, described leading screw I is driven by motor I, and described motor I is arranged on
On described support I, being provided with the slider I being connected by motion thread with it on described leading screw I, described slider I is passed through
Link is affixed with the rear end of module support plate, and the front end of described module support plate is provided with fixing slide block, described fixing slide block
Coordinating with cross track, described cross track is fixed on the vertical mainboard in described front end；Described anterior-posterior translation unit includes propping up
Frame II, 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, and described motor II is arranged on described module support plate, is provided with and passes through with it on described leading screw II
The slide block II that motion thread connects, is crossed with the π shape affixed with it on described slide block II and stretches out plate；Described upper and lower translation
Unit includes two elevating screws of left and right distribution, and the upper end of two described elevating screws is arranged in axle head fixed plate, two
The lower end of elevating screw described in root is arranged on described π shape and stretches out in plate, is equipped with and adopts with it on two described elevating screws
The lifting slider connected with motion thread, connects on described lifting slider and has module support bracket；At two described lifting silks
Being equipped with lifting driven gear on thick stick, described lifting driven gear engages with lifting driving gear, described lifting driving gear
Being driven by motor III, described motor III is arranged on described π shape and stretches out on plate；Described angle adjustment module includes and described mould
The drive shaft gripper shoe that block bracing frame is affixed, is connected with in described drive shaft gripper shoe and wears a bent plate II, wear silk described
On bent plate II and described drive shaft gripper shoe, the rotating driveshaft vertical with them is installed, described rotating driveshaft is pacified
Equipped with rotating driving gear, being wound with rotary drive silk on described rotating driveshaft, described rotary drive silk is through described
Wear a bent plate II；Described rotation driving gear engages with rotary drive gear, and described rotary drive gear turns with swinging leading screw
Being dynamically connected, described swing leading screw is arranged on to be worn on a bent plate I, described drive shaft gripper shoe and leading screw base, described in wear silk
Bent plate I is fixed in described drive shaft gripper shoe, is provided with, on described swing leading screw, the pendulum being connected with it by motion thread
Movable slider and swing driving wire, described swing driving wire be wrapped on described swing leading screw and pass described in wear a bent plate I；
Between described drive shaft gripper shoe and described leading screw base, be connected with swing connecting bar, described leading screw base is connected with
The hinge axis that described swing leading screw is vertical, described hinge axis is rotationally connected with the lower end of supporting plate, and the middle part of described supporting plate is passed through
Rocking bar is connected with described swing slide block；Described supporting plate is provided with leading screw bearing, described leading screw bearing is provided with puncture
Leading screw, is provided with the puncture slide block using motion thread to be connected with it on described puncture leading screw and punctures driving wire, described
Puncturing the puncture needle being connected with out mouth down on slide block, the bottom of described puncture needle is passed through and is positioned at below described puncture slide block
Described leading screw bearing.
The front end of described main shaft mainboard vertical with described front end is connected by front end clutch.
Connect in the lower end of each described arc and have castor.
Described power source uses handwheel.
Described horizontal supporting shaft uses two.
The present invention has the advantage that with good effect:
One) compact conformation, it is possible to CT (or MRI) intracavity at narrow space completes the adjustment of puncture needle position and angle；
Two) some freedom uses the mode of silk transmission to realize, it is possible to increase the adjustment of puncture needle and puncture precision, makes simultaneously
Obtain robot itself, with CT (MRI) instrument, there is good compatibility, improve the readability of navigation picture, it is possible to enter
One step improves the precision of operation；Three) motion of robot can be automatically adjusted, and improves the adjustment of puncture needle pose
Speed, accelerates the process of operation, reduces operation cost, alleviates the misery of patient；Four) in operation process, doctor
Life may be located remotely from instrument and the devices such as CT (or MRI) and radioactive particle, greatly reduces the labor of doctor in operation process
Fatigue resistance and the surgical environments extent of injury to clinician body.
In sum, present configuration is compact, and volume is little, it is possible to implant for close-range particle, it is possible to meet work empty
Between rigors, it is possible to realize the function of each angle inserting needle from thoracic cavity, and positioning precision be high, locating speed soon,
Easy to operate, it is possible to auxiliary doctor completes operation, and then the misery of minimizing patient, and this quickly, accurately, easily
Inventive structure adjusts flexibly, it is possible to overcome in operation process that locating speed is slow, position inaccurate drawback, it is possible to widely
It is applied in thoracentesis operation, opens up a new way for robot assisted micro-wound surgical operation, have important
Theory significance and actual application value.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the angle adjustment modular structure schematic diagram of the present invention；
Fig. 3 is the three-dimensional translation module structural representation of the present invention；
Fig. 4 is the arc support modular structure schematic diagram of the present invention；
Fig. 5 is the upward view of Fig. 4.
In figure: 1, castor；2, arc；3, incomplete internal gear；4, leading screw is punctured；5, leading screw is swung；6、
Rotating driveshaft；7, motor I；8, elevating screw；9, leading screw II；10, leading screw I；11, handwheel；12, puncture
Pin；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, drive shaft gripper shoe；23、
Swing slide block；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, lifting driven gear；32, lifting driving gear；33, axle head is fixed
Plate；34, lifting slider；35, motor II；36, link；37, slide block is punctured；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, little gear is nibbled in；53, rotary drive silk；
54, driving wire is swung；55, driving wire is punctured；56, slider I.
Detailed description of the invention
For the summary of the invention of the present invention, feature and effect can be further appreciated that, hereby enumerate following example, and coordinate accompanying drawing
Describe in detail as follows:
Referring to Fig. 1～Fig. 5, a kind of thoracentesis operating robot navigated based on CT or MRI image, including arc
Rack module, three-dimensional translation module and angle adjustment module.
Referring to Fig. 1 and Fig. 4～Fig. 5, described arc support module includes setting up two in these robot front-end and back-end separately
Arc 2, two described arcs 2 are connected, at each described arc by two longitudinally disposed foot steadying plates 42
The inner side of plate 2 is connected with incomplete internal gear 3；It is provided with the vertical mainboard in front end in the front of the described arc 2 being positioned at front end
45, the vertical mainboard in rear end 49, the vertical mainboard in described front end 45 and institute it is provided with at the rear of the described arc 2 being positioned at rear end
The top stating the vertical mainboard in rear end 49 is connected by least horizontal supporting shaft 47, the vertical mainboard in described front end 45 and institute
The bottom stating the vertical mainboard in rear end 49 is provided with a horizontally disposed main shaft 48, respectively pacifies in two ends of described main shaft 48
Nibble little gear 52 in filling one, described in nibble little gear 52 and engage with corresponding described incomplete internal gear 3, described main shaft
The rear end of 48 mainboard vertical with described rear end 49 is connected by rear end clutch 51, the input of described rear end clutch 51
It is connected with power source；Being provided with roll sleeve 46 on described horizontal supporting shaft 47, described horizontal supporting shaft 47 is by described rolling
Set 46 is connected with the outer surface rolling friction of described arc 2.
In the present embodiment, moving integrally for the ease of robot, connect in the lower end of each described arc 2 and have foot
Wheel 1.Operating for the ease of on-site manual, described power source uses handwheel 11.Puncturing head is outside torso model for convenience
The position adjustment in portion, and make simple in construction, stablize, described horizontal supporting shaft 47 uses two.For Stability Analysis of Structures, make
The stress balance of main shaft 48, the front end mainboard vertical with described front end 45 of described main shaft 48 is connected by front end clutch,
In the present embodiment, castor 1 and arc 2 are affixed by junctional complex 41, and two the most adjacent junctional complexs 41 pass through
Foot steadying plate 42 links together.
Above-mentioned arc support module can be nibbled the transmission of mate gear and be realized puncturing head in the position outside torso model in passing through
Adjust, and realize self-locking and power input function by clutch.
Referring to Fig. 1 and Fig. 3, described three-dimensional translation module includes left and right translation unit, anterior-posterior translation unit and upper and lower translation
Unit；Described left and right translation unit includes support I 28, and described support I 28 is fixing in the rear by module connecting plates 50
Hold on vertical mainboard 49.Concrete structure is: described support I 28 is fixed on module connecting plates 50, and described module connects
Plate 50 is fixed on the vertical mainboard in described rear end 49.
Being provided with the leading screw I 10 of horizontally set on described support I 28, described leading screw I 10 is driven by motor I 7, institute
State motor I 7 to be arranged on described support I 28, described leading screw I 10 is provided with the cunning being connected by motion thread with it
Block I 56, described slider I 56 is affixed with the rear end of module support plate 38 by link 36, described module support plate 38
Front end be provided with fixing slide block 25, described fixing slide block 25 coordinates with cross track 26, and described cross track 26 is fixed on
On the vertical mainboard in described front end 45.
Described anterior-posterior translation unit includes that support II 29, described support II 29 are fixed on described module support plate 38；Institute
Stating and be provided with leading screw II 9 on support II 29, described leading screw II 9 is driven by motor II 35, and described motor II 35 is arranged on institute
State on module support plate 38, described leading screw II 9 is provided with the slide block II 40 being connected by motion thread with it, described
It is crossed with the π shape affixed with it on slide block II 40 and stretches out plate 39.
Described upper and lower translation unit includes two elevating screws 8 of left and right distribution, and the upper end of two described elevating screws 8 is installed
In axle head fixed plate 33, the lower end of two described elevating screws 8 is arranged on described π shape and stretches out in plate 39, at two
It is equipped with the lifting slider 34 using motion thread to be connected with it on described elevating screw 8, described lifting slider 34 connects
It is connected to module support bracket 27；Two described elevating screws 8 are equipped with lifting driven gear 31, described lifting driven tooth
Wheel 31 engages with lifting driving gear 32, and described lifting driving gear 32 is driven by motor III 30, described motor III 30
It is arranged on described π shape to stretch out on plate 39.
Referring to Fig. 1 and Fig. 2, described angle adjustment module includes that the drive shaft affixed with described module support bracket 27 supports
Plate 22, is connected with in described drive shaft gripper shoe 22 and wears a bent plate II 20, wears a bent plate II 20 described and described drive
The rotating driveshaft 6 vertical with them is installed on shafts support plate 22, described rotating driveshaft 6 is provided with rotation
Driving gear 21, is wound with rotary drive silk 53 on described rotating driveshaft 6, and described rotary drive silk 53 is through institute
State and wear a bent plate II 20.
Described rotation driving gear 21 engages with rotary drive gear 18, described rotary drive gear 18 and swing leading screw 5
Being rotationally connected, described swing leading screw 5 is arranged on wears a bent plate I 19, described drive shaft gripper shoe 22 and leading screw base 14
On, described in wear a bent plate I 19 and be fixed in described drive shaft gripper shoe 22, described swing leading screw 5 is provided with and leads to it
Crossing swing slide block 23 and swing driving wire 54 that motion thread connects, described swing driving wire 54 is wrapped in described swing silk
A bent plate I 19 is worn on thick stick 5 and described in passing；Between described drive shaft gripper shoe 22 and described leading screw base 14 affixed
There is swing connecting bar 24, 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 by rocking bar 16 and described swing slide block
23 connect；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 using motion thread to be connected with it and punctures driving wire 55, described
Puncturing the puncture needle 12 being connected with out mouth down on slide block 37, the bottom of described puncture needle 12 is passed through and is positioned at described puncture cunning
Described leading screw bearing 17 below block 37.
Above-mentioned motor I 7, motor II 35 and motor III 30 all use motor.
The operation principle of the present invention:
Thoracentesis surgical machine man-hour is arranged on the sick bed of CT or (MRI) machine, during work, and arc support mould
Block covers on the top of patients abdomen.
Above-mentioned arc support module mainly realizes the rotation around arc 2 of three-dimensional translation module and angle adjustment module, makes to wear
Thorn position thoracic cavity outline can be completely covered, this partial turn function by two incomplete internal gears 3 with two in nibble little
The engaged transmission of gear 52 realizes.Adjust angle time, first the A portion 43 of front end clutch is pulled, make front end from
Clutch separates, and then handwheel 11 is pulled out along main shaft 48, makes rear end clutch 51 separate, and then operator rotates handwheel
11, provide driving torque, drive shaft 48 to rotate for main shaft 48, nibble little gear 52 in making around incomplete internal gear 3 turns
Dynamic, thus drive other two modules to rotate around arc 2 together, when corner reaches setting value, by handwheel 11 along main shaft
48 push back, and make rear end clutch 51 engage, and are locked on the vertical mainboard in rear end 49 by main shaft 48 so that it is can not rotate,
Complete self-locking, reinstall the A portion 43 of front end clutch simultaneously, make front end clutch engage, main shaft 48 is locked in front end
On vertical mainboard 45 so that it is can not rotate.The setting of front end clutch can make the stress balance situation of main shaft 48 more preferably,
The overall structure stability of robot is more preferable.
Above-mentioned three-dimensional translation module is mainly made up of three groups of mutually perpendicular screw-drive mechanisms, is used for realizing puncture needle people
Positioning function in exterior three dimensional space, body thoracic cavity, three groups of screw-drive mechanisms are driven by motor, and phase between three
The most independent.Can first drive leading screw I 10 to drive angle adjustment module to carry out right position adjustment during location, arrive and both positioned
Postpone, then drive leading screw II 9 to drive angle adjustment module to carry out front and back position adjustment, finally drive elevating screw 8 to drive angle
Degree adjusting module completes position fixing process.
Above-mentioned angle adjustment module is capable of the motion of three degree of freedom, is that puncture needle 12 is around swinging turning of leading screw 5 respectively
Move degree of freedom, puncture needle 12 rotational freedom around hinge axis 13 and the puncture degree of freedom of puncture needle 12.During adjustment, first
First pull the rotary drive silk 53 on rotating driveshaft 6, be rotated drive shaft 6, rotate driving gear 21 and rotate from
Moving gear 18 rotates, thus drives swing connecting bar 24, leading screw base 14, hinge axis 13 and supporting plate 15 to move, finally
Pass motion to puncture needle 12 so that it is rotate around swinging leading screw 5, to adjust the tendency of inserting needle；Then, by pulling
It is wrapped in the swing driving wire 54 swinging leading screw 5 top, makes swing slide block 23 drive rocking bar 16, rocking bar 16 to drive supporting plate
15 and supporting plate 15 on the puncture needle 12 that carries rotate around hinge axis 13, the angle of inclination completing inserting needle adjusts；Finally, exist
After the tendency of inserting needle and angle of inclination have all adjusted, pull and be wrapped in the puncture driving wire 55 puncturing leading screw 4 top, drive
The dynamic leading screw 4 that punctures rotates, to drive puncture needle 12 to complete inserting needle motion.
The present invention by arc support module, three-dimensional translation module and angle adjustment module to the inserting needle position of puncture needle, enter
Pin tendency and needle angle be adjusted, it is convenient to find accurately tail house locus and towards.
Although the preferred embodiments of the present invention being described above in conjunction with accompanying drawing, but the invention is not limited in above-mentioned
Detailed description of the invention, above-mentioned detailed description of the invention is only schematically, is not restrictive, this area general
Logical technical staff is under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection,
Can be to make a lot of form, within these belong to protection scope of the present invention.
Claims (5)
1. the thoracentesis operating robot navigated based on CT or MRI image, it is characterised in that include that arc props up
Frame module, three-dimensional translation module and angle adjustment module；
The front-end and back-end of described arc support module respectively arrange an arc, and two described arcs are vertical by two edges
Connect to the angle steadying plate arranged, be connected with incomplete internal gear in the inner side of each described arc；It is being positioned at front end
The front of described arc is provided with the vertical mainboard in front end, is provided with rear end at the rear of the described arc being positioned at rear end and vertically leads
Plate, the top of the vertical mainboard of the vertical mainboard in described front end and described rear end is connected by horizontal supporting shaft, and described front end is vertical
The bottom of the vertical mainboard of mainboard and described rear end is provided with horizontally disposed main shaft, respectively installs in two ends of described main shaft
Nibble little gear in one, described in nibble little gear and the engagement of corresponding described incomplete internal gear, the rear end of described main shaft and institute
Stating the vertical mainboard in rear end to be connected by rear end clutch, the input of described rear end clutch is connected with power source；Described
Being provided with roll sleeve on horizontal supporting shaft, described horizontal supporting shaft is rolled by the outer surface of described roll sleeve with described arc
Frictional connection；
Described three-dimensional translation module includes left and right translation unit, anterior-posterior translation unit and upper and lower translation unit；Described left and right is put down
Move unit and include that support I, described support I are fixed on the vertical mainboard in described rear end by module connecting plates；At described
Being provided with the leading screw I of horizontally set on frame I, described leading screw I is driven by motor I, and described motor I is arranged on described
On frame I, being provided with the slider I being connected by motion thread with it on described leading screw I, described slider I passes through link
Affixed with the rear end of module support plate, the front end of described module support plate is provided with fixing slide block, and described fixing slide block is with horizontal
Track coordinates, and described cross track is fixed on the vertical mainboard in described front end；Described anterior-posterior translation unit includes support II,
Described support II is fixed on described module support plate；Being provided with leading screw II on described support II, described leading screw II is by electricity
Machine II drives, and described motor II is arranged on described module support plate, is provided with it by transmission spiral shell on described leading screw II
The slide block II that stricture of vagina connects, is crossed with the π shape affixed with it on described slide block II and stretches out plate；Described upper and lower translation unit bag
Including two elevating screws of left and right distribution, the upper end of two described elevating screws is arranged in axle head fixed plate, described in two
The lower end of elevating screw is arranged on described π shape and stretches out in plate, is equipped with and uses transmission with it on two described elevating screws
Threaded lifting slider, connects on described lifting slider and has module support bracket；On two described elevating screws all
Being provided with lifting driven gear, described lifting driven gear engages with lifting driving gear, and described lifting driving gear is by motor
III drives, and described motor III is arranged on described π shape and stretches out on plate；
Described angle adjustment module includes the drive shaft gripper shoe affixed with described module support bracket, supports in described drive shaft
Be connected with on plate and wear a bent plate II, described wear be provided with in a bent plate II and described drive shaft gripper shoe vertical with them
Rotating driveshaft, is provided with rotation driving gear on described rotating driveshaft, is wound with rotation on described rotating driveshaft
Turn driving wire, described rotary drive silk pass described in wear a bent plate II；Described rotation driving gear is nibbled with rotary drive gear
Close, described rotary drive gear with swing screw turns be connected, described swing leading screw be arranged on wear a bent plate I, described in drive
On shafts support plate and leading screw base, described in wear a bent plate I and be fixed in described drive shaft gripper shoe, at described swing silk
Thick stick is provided with the swing slide block being connected by motion thread with it and swings driving wire, and described swing driving wire is wrapped in described
A bent plate I is worn described in swinging on leading screw and passing；It is connected with pendulum between described drive shaft gripper shoe and described leading screw base
Dynamic connecting rod, is connected with the hinge axis vertical with described swing leading screw, described hinge axis and supporting plate on described leading screw base
Lower end 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, is provided with puncture leading screw on described leading screw bearing, is provided with and uses with it motion thread even on described puncture leading screw
The puncture slide block connect and puncture driving wire, be connected with out the puncture needle of mouth down, described puncture needle on described puncture slide block
Bottom pass through the described leading screw bearing being positioned at below described puncture slide block.
The thoracentesis operating robot navigated based on CT or MRI image the most according to claim 1, its feature
Being, the front end of described main shaft mainboard vertical with described front end is connected by front end clutch.
The thoracentesis operating robot navigated based on CT or MRI image the most according to claim 1, its feature
Being, connecting in the lower end of each described arc has castor.
The thoracentesis operating robot navigated based on CT or MRI image the most according to claim 1, its feature
Being, described power source uses handwheel.
The thoracentesis operating robot navigated based on CT or MRI image the most according to claim 1, its feature
Being, described horizontal supporting shaft uses two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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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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| Application Number | Priority Date | Filing Date | Title |
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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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| CN104739512A CN104739512A (en) | 2015-07-01 |
| CN104739512B true CN104739512B (en) | 2017-01-11 |
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| CN107773305A (en) * | 2017-09-11 | 2018-03-09 | 山东科技大学 | A kind of four-degree-of-freedom tumor puncture auxiliary robot |
| WO2019141261A1 (en) * | 2018-01-19 | 2019-07-25 | Shenzhen United Imaging Healthcare Co., Ltd. | Puncture device |
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| CN110960318B (en) * | 2018-09-30 | 2021-10-15 | 赛诺微医疗科技（浙江）有限公司 | CT guided ablation system and ablation positioning method |
| CN110946653B (en) * | 2018-12-29 | 2021-05-25 | 华科精准（北京）医疗科技有限公司 | Operation navigation system |
| CN111839683B (en) * | 2020-07-27 | 2022-03-22 | 南通市第一人民医院 | Prostate puncture positioning aid |
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| CN103417303B (en) * | 2013-08-16 | 2016-01-20 | 天津大学 | Based on the nuclear magnetism compatibility surgical robot of silk transmission |
| 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 |
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2015
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