CN105212995B - Robot-assisted lancing along a straight path precise embodiment of the soft tissue target device - Google Patents

Robot-assisted lancing along a straight path precise embodiment of the soft tissue target device Download PDF

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CN105212995B
CN105212995B CN201510621563.7A CN201510621563A CN105212995B CN 105212995 B CN105212995 B CN 105212995B CN 201510621563 A CN201510621563 A CN 201510621563A CN 105212995 B CN105212995 B CN 105212995B
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electric actuator
puncture
soft tissue
needle
target
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CN105212995A (en
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赵洪华
田建英
田倩倩
艾长胜
曹树坤
刘涛
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济南大学
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Abstract

一种机器人辅助沿直线路径精准穿刺软组织目标的实施装置,该装置包括位置控制执行装置,该位置控制执行装置使用多个方向的伺服电机作为驱动源驱动电动执行器,电动执行器包括执行头,将执行头放置于软组织体表周围,以仿真系统确定的方向和力为基准,在针刺过程中,控制位置控制执行装置按照控制器的预设数据动作,通过在表面施加力来控制兴趣点目标位置进行移位操作:首先,为提高肿瘤目标的可访问性,应用该实施装置推动障碍和敏感组织远离针刺路径,其次,纠正剩余针定位误差,控制穿刺肿瘤目标“主动”移向针刺轨迹直线并被放置其上,最后,实现图像引导下的精准穿刺。 A robot assisted lancing along a straight path precise embodiment of the apparatus of the soft tissue target, the apparatus includes a position control execution means, the control means uses a plurality of directions the position of the servo motor as a driving source performs driving the electric actuator, the electric actuator comprises an end effector, the end effector is placed around the soft tissue surface, and a force in the direction of the simulation system is determined as a reference, in the needling process, the control unit performs the position control operation according to a preset data controller to control the point of interest on the surface by applying a force the target position of the shift operation: first, to improve the accessibility of the target tumors, to promote the application of the embodiment apparatus away from sensitive tissues and disorders needle path, and secondly, to correct the residual error in the positioning pin, the control target tumor puncture "active" toward the needle puncture and placed on straight track, and finally, to achieve precise image guided puncture.

Description

机器人辅助沿直线路径精准穿刺软组织目标的实施装置 Robot-assisted lancing along a straight path precise embodiment of the soft tissue target device

技术领域 FIELD

[0001]本发明涉及一种机器人辅助沿直线路径精准穿刺软组织目标的实施装置。 [0001] The present invention relates to a linear path along a precise robotic-assisted lancing device embodiment of the soft tissue target.

背景技术 Background technique

[0002]由于经皮靶向穿刺手术在组织活检、靶向注射、近距离放射性治疗以及神经外科手术等方面有着极为重要的应用,特别是在癌症早期诊断和治疗领域的优异表现,使之成为微创手术系统研宄的焦点与前沿。 [0002] Since the targeted percutaneous puncture biopsy surgery, targeted injection, aspects of brachytherapy and neurosurgical surgery has a very important applications, especially outstanding performance in the field of early diagnosis and treatment of cancer, making it study based on focus and cutting-edge minimally invasive surgical system. 对于穿刺手术,穿刺精度是手术成败的关键。 For surgical puncture, puncture accuracy is the key to the success of surgery. 穿刺时, 较差革E向精度会导致组织损伤、错误诊断或不当放射量,例如,切片活检时的较差定位,将导致可能相反的检查结果;热消融时的较差定位,会杀死正常组织而不是癌变组织,这在某些时候将产生灾难性的后果。 Puncture, leather inferior to the accuracy of E can cause tissue damage, wrong diagnosis or improper radiation dose, for example, poor positioning of the section biopsy, will lead to the opposite result may be checked; poor positioning when thermal ablation, will kill normal tissue rather than cancerous tissue, which at some point will have catastrophic consequences. 因此,如何在穿刺手术中减小靶向误差以达到理想的穿刺精度,对降低组织伤害和患者的痛苦具有极为重要的现实意义。 Therefore, how to reduce errors in targeting puncture surgery to achieve the desired accuracy puncture, has extremely important practical significance to reduce tissue damage and the patient's pain.

[0003]现有技术中主要存在两个问题:存在两个主要问题:一是由于组织各向异性和个体差异性、软组织变形和运动、软组织的复杂的时变特性,实际中的针操控难以精准;二是穿刺路径上存在障碍物如骨头、敏感组织,则无法进行穿刺手术,给系统动力学建模和稳定操作带来极大困难,实际手术中往往存在靶向误差(图1),需要多次回撤针,然后重新插入以获得适合精度,而这些操作大大增加了组织伤害和患者的痛苦,同时很难达到理想的穿刺精度。 [0003] In the prior art there are two main problems: There are two main problems: First, because of the complex time-varying tissue properties and anisotropy individual differences, deformation and movement of the soft tissue, soft tissue, and in practice difficult to control the needle precision; Second obstructions such as bone, present on the sensitive tissue puncture path, the piercing operation can not be performed, and a stable operation of the system dynamics modeling caused great difficulties, there is often targeted actual surgical error (FIG. 1), require multiple retracement of the needle, and then re-inserted in order to obtain suitable accuracy, and these operations greatly increase the patient's pain and tissue damage, while difficult to achieve the desired puncture accuracy.

[0004] 虽然在软组织穿刺领域,柔性针的穿刺机理、路径规划和控制己引起了国内外学者的广泛关注和研宄,然而,面向软组织进行手术操作,涉及到生物力学、断裂力学、摩擦学、影像学、自动控制等多学科基础科学,技术挑战性强,研宄难度大,主要体现在:(1)柔性针穿刺软组织技术是通过针根部2个自由度运动,绕针轴线旋转运动和进给运动,控制针尖实现6个自由度的空间定位,即包含4个非同胚自由度,属于非完整系统的范畴。 [0004] Although the puncture area of ​​soft tissue, puncture mechanism flexible needle, path planning and control has attracted domestic and foreign scholars attention and study based, however, on soft tissue surgical procedures involving biomechanics, fracture mechanics, tribology , imaging, automatic control of basic science and other disciplines, technically challenging and strong, a Subsidiary difficult, mainly in: (1) a flexible needle through needle technique of soft tissue root two degrees of freedom, and the rotational movement about the axis of the needle feed movement, the tip spatial positioning control 6 degrees of freedom, i.e., degrees of freedom comprising four embryos unusual, non-visible part of the complete system. (2)柔性针穿刺涉及到复杂的针-组织相互作用,医师很难手工操作。 (2) relates to a flexible needle to the needle complex - tissue interaction, a physician difficult manual operation. (3)组织变形、组织各向异性和多层组织边界特性导致插入运动的不确定性以及含有复杂非线性摩擦力的针-组织相互作用,这些都给操控柔性针带来新的技术挑战。 (3) tissue deformation, and anisotropic multilayer tissue characteristics of tissue boundaries lead to uncertainty of the insertion movement and a needle containing a complex nonlinear friction - tissue interaction, which gave a flexible needle manipulation to bring new technical challenges. 因此,基于柔性针的穿刺软组织技术尚处于探索起步阶段,理论研宄还不完善,离实验应用以及后续的临床应用都还有一定距离。 Therefore, based on a flexible needle puncture soft tissue technology is still in its infancy exploration, study based on the theory is not perfect, from the experimental application and subsequent clinical applications there is a certain distance.

发明内容 SUMMARY

[0005] 一种机器人辅助沿直线路径精准穿刺软组织目标的实施装置,该装置包括位置控制执行装置,该位置控制执行装置使用多个方向的伺服电机作为驱动源驱动电动执行器, 电动执行器包括执行头,将执行头放置于软组织体表周围,以仿真系统确定的方向和力为基准,在针刺过程中,控制位置控制执行装置按照控制器的预设数据动作,通过在表面施加力来控制兴趣点目标位置进行移位操作:首先,为提高肿瘤目标的可访问性,应用该实施系统推动障碍和敏感组织远离针刺路径,其次,纠正剩余针定位误差,控制穿刺肿瘤目标“主动”移向针刺轨迹直线并被放置其上,最后,实现图像引导下的精准穿刺。 [0005] A robot assisted along a straight path precise puncture soft tissue target of an apparatus, the apparatus includes a position control execution means, the position control means performs a plurality of directions using a servo motor as a driving source for driving the electric actuator, the electric actuator comprising the end effector, the end effector is placed around the soft tissue surface, and a force in the direction of the simulation system is determined as a reference, in the needling process, the control unit performs the position control operation according to a preset data controller, by applying a force to the surface the control target point of interest location shift operation: first, to improve the accessibility of the target tumors, to promote the application of the embodiment system disorders, and away from sensitive tissues needle path, secondly, to correct the residual error in the positioning pin, the control target tumor puncture "active" acupuncture is moved and placed on straight track, and finally, to achieve precise image guided puncture.

[0006] 进一步,位置控制执行装置包括底座,其上分布有多个支架,通过各个定位螺钉与焊接在两个固定卡槽的套筒连接,套筒与支架的相对位置可改变,以调节固定卡槽I和固定卡槽II的相对高低,电动执行器1通过两个连接螺钉固定在固定卡槽1上,电动执行器11与通过两个连接螺钉与固定卡槽I〗连接。 [0006] Further, the position control execution means comprises a base, on which there are distributed a plurality of brackets, two fixed jaw connected to the sleeve by welding the respective screw, the relative position of the sleeve and the stent may be varied to adjust the fixed I II slot and the slot is relatively fixed level, the electric actuator 1 is connected by means of two screws on the fixed jaw 1, the electric actuator 11 is connected via two connecting screws and the fixing slot I〗. 电动执行器I上连接有穿刺针,电动执行器11上连接有支撑板,支撑板与执行头连接,根据力的预加载的设置,布置电动执行器及选择其所连接的执行头或穿刺针。 I connected to the electric actuator has a puncture needle, a supporting plate 11 connected to the electric actuator, the support plate is connected with the end effector, according to the pre-loaded force is provided, and the electric actuator is arranged to select which they are attached end effector or needle .

附图说明 BRIEF DESCRIPTION

[0007] 图1软组织穿刺手术时的针穿刺误差; [0007] FIG 1 soft tissue surgical needle puncturing error;

[0008] 图2软组织操作力加载不同方法与力的关系; [0008] Figure 2 relationships soft tissue operating force loading the force of different methods;

[0009]图3力预加载穿刺实现方法; [0009] FIG. 3 preloading force piercing implemented method;

[0010]图4a力预加载前; [0010] FIG. 4a before the pre-load force;

[0011] 图4b力预加载后穿刺前; [0011] FIG 4b after the puncture of anterior preloading;

[0012] 图4c力预加载后保持及穿刺开始; [0012] after the start of piercing and holding the preload force of Figure 4c;

[0013] 图4d穿刺到位; [0013] FIG 4d puncture place;

[0014]图5分阶段操作控制方法; [0014] FIG. 5 phased operation control method;

[0015] 图6a执行器未动作; [0015] FIG. 6a actuator is not operated;

[0016] 图6b执行器动作后; After [0016] FIG. 6b actuator movement;

[0017] 图6c多个方向放置的电动执行器; [0017] FIG. 6c a plurality of electric actuators placed directions;

[0018] 图7控制结构示意图。 [0018] Figure 7 a schematic view of the control structure.

具体实施方式 Detailed ways

[0019] 考虑基于柔性针的穿刺软组织技术尚处于探索起步阶段,理论研宄还不完善,离实验应用以及后续的临床应用都还有一定距离。 [0019] Consider puncture soft tissue technique is based on a flexible needle is still in the initial stage of exploration, study based on the theory is not perfect, there are a certain distance away from the experimental application and subsequent clinical application. 所以本发明利用刚性针进行直线路径穿刺手术,针对目前软组织穿刺手术存在的避障难、操控性差、多次回撤针、靶向精度低的难题, 本发明转变传统的惯性思维,取代在针刺过程中操纵针向目标方向移动的传统技术方法, 提出一种新的机器人辅助沿直线路径精准靶向穿刺软组织目标的技术手段,以肿瘤目标“主动”精准追踪靶向穿刺路径手段,通过采用最小化穿刺软组织形变的预加力穿刺方法, 选择合适的穿刺路径,采用基于兴趣点目标的移位操作控制,解决利用刚性针穿刺的主要难题,减小软组织形变和穿刺靶点的移位误差,达到理想的穿刺精度,降低组织伤害和患者的痛苦。 Therefore, the present invention utilizes a rigid puncturing needle straight path operation for obstacle avoidance is difficult to existing soft tissue piercing operation, poor handling, multiple needle retracement, low precision targeting of the problem, the present invention is to change the traditional thinking, but substituted at acupuncture conventional art method for operating the needle in the desired direction of movement of the process, a new robot along a straight path auxiliary precise targeting techniques puncture soft tissue targets, tumor targets "active" precise targeting puncture path tracking means, by using the minimum pre-energizer puncture puncturing of soft tissue deformation, puncture select the appropriate path, the shift operation based control target point of interest, solve the main problem of using a rigid needle, reducing shift error and deformation of soft tissue puncture target, puncture achieve the desired accuracy and reduce pain and tissue damage in patients. 本方法具有结构简单、操作容易、精度高的优点。 This method has a simple structure, easy operation, high accuracy.

[0020] 整个实现方法分为两个阶段: [0020] The overall implementation in two stages:

[0021] (1)力预加载阶段 [0021] (1) pre-loaded force stage

[0022] 仿真手术与实际手术的软组织形变量决定着穿刺手术的精度,因此穿刺前对软组织施加预加力来最小化软组织形变,基于接触的力加载方式通常三种(图2),为有效减小组织损伤,在此,选择与软组织具有大的、球形接触面的图2C的球形表面方式。 [0022] surgery simulation and the actual surgical soft tissue deformation determines the accuracy of the piercing operation, thus applying a pre-energizer to minimize soft tissue deformation based on the force loading of the contact is generally three kinds (FIG. 2) before the puncture of soft tissue, is effective tissue damage is reduced, in this case, the soft tissue is selected to have a large, spherical contact surface in FIG. 2C spherical surface manner.

[0023]基于成熟的医学影像采集、三维图像重建、穿刺路径规划、虚拟手术培训等技术, 实现方法如图3a所示,借助于针-软组织力交互模型,对穿刺力大小进行仿真及仿体实验研宄,确定预加力的范围,综合衡量穿刺精度和患者软组织承受力负荷的平衡关系,考虑穿刺针的速度、位置、方向对其优化,以此优化值为基准,利用软组织形变仿真模型,完成对肿瘤目标的预测、定位,力加载装置(中空,中间穿过穿刺针)输出稳定的预加载力,并对软组织在穿刺手术前进行加载,进而插入穿刺针并沿力预加载路径行穿刺手术,此方法可在穿刺时最小化软组织形变,并防止软组织由弹性到刺穿阶段而出现的粘弹性效应,如应力松弛及蠕变现象等,减小肿瘤目标位置的形变和移位,提高穿刺精度和手术质量。 [0023] Based on the mature medical image acquisition, the three-dimensional image reconstruction, puncture path planning, training, virtual surgical technology, the method shown in Figure 3a, by means of a needle - Soft Tissue force interaction model to simulate the size and penetration force phantoms experimental study based, pre-determined range of energizing, a comprehensive measure of accuracy and patient puncture soft tissue to withstand load force balance, considering the speed of the puncture needle, the position, the direction of its optimization, the reference value in order to optimize the use of soft tissue deformation simulation model , completion prediction of tumor targets, positioning, loading force device (hollow needle through the middle) output stability of the preload force, and the soft tissue before loading the piercing operation, and then the insertion puncture needle and the preload force along the path line puncturing operation, the method may minimize soft tissue puncture deformation, the viscoelastic behavior and to prevent an elastic soft tissue to the emergence of the puncture phase, such as stress relaxation and creep phenomena, reduced deformation and displacement of the tumor target position, improve the quality of puncture and surgical precision.

[0024]图4a-4b示出了减小穿刺软组织形变的力预加载及穿刺装置,其包括底座12,其上分布有10个支架11,通过各个定位螺钉10与焊接在两个固定卡槽7和14的套筒9连接,可改变套筒9与支架11的位置,以调节固定卡槽17和固定卡槽1114的高低。 [0024] Figures 4a-4b illustrate the piercing of soft tissue deformation force decreases in preload and puncturing device which includes a base 12, on which are distributed 10 holder 11, 10 through the respective screw and welded two fixed jaw 9 and 14 of the sleeve 7 is connected with the sleeve 9 can change the position of the bracket 11 to adjust the height and the fixed jaw 17 fixed jaw 1114. 电动执行器16通过两个连接螺钉8固定在固定卡槽17上,电动执行器1115与通过两个连接螺钉13与固定卡槽II14连接。 Electric actuator 16 is connected by means of two screws 8 is fixed to the fixed jaw 17, 1115 and the electric actuator 13 is connected by two connecting screws and the fixing slot II14. 电动执行器ie上连接有穿刺针5,电动执行器II15上连接有支撑板4,支撑板4与导管2连接,根据力的预加载的设置,布置电动执行器及选择其所连接的导管或穿刺针。 Is connected to the puncture needle 5 is connected to the support plate 4, the support plate 42 is connected to the electric actuator conduit II15 IE electric actuator, in accordance with the preload force is provided, and the selection electric actuator arranged in the conduit to which it is attached, or needle. [0025] 该方法按照如下步骤进行操作: [0025] This method operates in the following steps:

[0026] 1)病人术前医学图像采集、二维图像建立; [0026] 1) patients with preoperative medical image acquisition, the establishment of a two-dimensional image;

[0027] 2)二维医学图像分析、三维图像重建; [0027] 2) two-dimensional medical image analysis, three-dimensional image reconstruction;

[0028] 3)根据分析结果,确定手术方案; [0028] 3) According to the analysis results, the surgical plan;

[0029] 4)借助于软组织形变力学模型,确定预加力的范围; [0029] 4) by means of a mechanical model of the soft tissue deformation, determining the pre-energizing range;

[0030] 5)利用软组织形变仿真模型,优化穿刺针的速度、位置、方向; [0030] 5) the use of tissue deformation simulation model to optimize the speed of the puncture needle, the position, orientation;

[0031] 6)完成对肿瘤目标的预测、定位,确定穿刺点和穿刺路径; [0031] 6) a forecast of tumor targets, positioning, determining the puncture point and a piercing path;

[0032] 7)根据优化结果,选定实际穿刺点、穿刺方向,利用力预加载及穿刺装置,该装置使用上下布置且输出同轴的伺服电机电动执行器作为执行装置(图4),其控制器可设置预紧速度、预紧力、穿刺速度及穿刺力的大小,电动执行器1末端安装力预加载工具,动作时实现穿刺前的软组织预压紧功能,电动执行器2夹持穿刺针,动作时实现沿着力预加载方向上的穿刺功能。 [0032] 7) The result of the optimization, the selected actual puncture, the puncture direction, and the force preloading puncturing apparatus using the vertically arranged coaxially and output servo motor as an electric actuator actuating device (FIG. 4), which the controller may set the preload speed, the size of preload, puncture force and puncture speed, the electric actuator 1 preloading tool tip mounting force, soft-tissue puncture before pre-compressing function operation, electric actuator 2 sandwiched puncture needle puncture function to achieve the preload force in the direction of operation. 具体控制和使用方法按照以下步骤实现:a、确定力预加载装置的位置,穿刺点位置及穿刺方向(图4a) ;b、控制器预设预紧速度、预紧力、穿刺速度及穿刺力的大小;c、控制末端预紧装置按预设数据压紧被穿刺软组织,并保持(图4b) ;d、控制穿刺针电动执行器按照预设数据动作并开始穿刺(图4c) ;e、将穿刺针经力预加载装置刺入软组织,按照仿真路径规划进行穿刺到位(图4d)。 And using the specific control method to achieve the following steps: a, determining the position of the force of pre-loading device, the puncture position and the puncture direction (FIG. 4a); b, the speed controller preset preload, the preload, and the puncture speed Puncture Force size; C, the control terminal apparatus preset data compression preload punctured soft tissue and holding (FIG. 4b); d, needle control electric actuator according to a preset data and starts piercing operation (FIG. 4c); e, the needle penetration device via the preloading force of the soft tissue puncture in place (FIG. 4d) in accordance with the emulation path planning.

[0033] (2)兴趣点目标的分阶段操控追踪穿刺路径阶段 [0033] in stages (2) Interest point target tracking puncture path control stage

[0034]在路径规划的基础上,机器人操控穿刺针穿刺软组织并按照直线路径前进(图5b),利用医学成像装置,实时视觉反馈并监控整个穿刺过程,结合基于软组织兴趣点目标的操作变形移位机理,借助外部实时目标操作装置,在图像引导下分阶段操作。 [0034] On the basis of the path planning, robotics handling the puncture needle of soft tissue and proceeds (FIG. 5b) in a straight line path, utilizing a medical imaging apparatus, real-time visual feedback to monitor the whole puncturing procedure, the bonding operation modification based on the soft tissue site of interest target shift bit mechanism, operated by means of external target device in real time, staged operation under image guidance.

[0035]分阶段操作控制的具体实现:基于软组织兴趣点目标的形变移位控制方法,通过设计一个外部实时目标操作装置,该装置使用多个方向的伺服电机电动执行器作为执行装置,放置于软组织体表周围,以仿真系统确定的方向和力为基准,在针刺过程中,控制电动执行器按照控制器的预设数据动作,通过在表面施加力来控制兴趣点目标位置进行移位操作。 [0035] The specific implementation of the operation control stages: a shift control method of the strain point of interest based on a target of soft tissue, through the design of a real-time target external operating apparatus using a plurality of directions servo motor electric actuator as execution means, disposed in the surrounding soft tissue surface, and a force in the direction of the simulation system is determined as a reference, in the needling process, the electric actuator according to a preset control data of the motion controller, the control points of interest to a target position by applying a force on the surface shift operation . 首先,为提高肿瘤目标的可访问性,应用该方法推动障碍和敏感组织远离针刺路径(图5c),最后,纠正剩余针定位误差,控制穿刺肿瘤目标“主动”移向针刺轨迹直线并被放置其上(图5d),实现图像引导下的精准穿刺。 First, to improve the accessibility of the target tumors, application of the method to promote tissue away from obstacles and sensitive needle path (FIG. 5C), finally, the residual needle positioning error correction, puncturing the control target tumor "active" and a straight line toward the needle track It is placed thereon (FIG. 5d), for precise image guided puncture. 机械装置如图6所示。 Mechanical means as shown in FIG.

[0036]目标移位控制操纵系统是一套位置控制执行装置。 [0036] The shift control target operating system is a set of position control execution means. 通过设计一个控制器(图7),实际目标位置数据(P1)由图像反馈获得,所需目标位置数据(P2)由规划者根据目标当前位置以及针刺方向所决定。 By designing a controller (FIG. 7), the actual target position data (P1) obtained by an image feedback, determined by the planner according to the target position and the current direction of the needle desired target position data (P2). 控制器根据位置误差驱动实时目标操作系统控制目标移位于所需位置。 The real position error controller driving the control target shifting the target operating system in the desired position. 视针刺力为整个系统的干扰,控制器的震动(当组织密度很高时)影响,可以用饱和度反馈补偿予以减轻,能够最大限度的减少目标位置的跟踪误差。 Depending needling force overall system interference, shock (when the tissue density is high) impact, can be compensated by the feedback control of the saturation be mitigated, it is possible to minimize the tracking error target position.

Claims (3)

1. 一种机器人辅助沿直线路径精准穿刺软组织目标的实施装置,该装置包括位置控制执行装置,该位置控制执行装置使用多个方向的伺服电机作为驱动源驱动各电动执行器, 电动执行器包括执行头,将执行头放置于软组织体表周围,以仿真系统确定的方向和力为基准,在针刺过程中,控制位置控制执行装置按照控制器的预设数据动作,通过在软组织表面施加力来控制兴趣点目标位置进行移位操作:首先,为提高肿瘤目标的可访问性,应用该实施装置推动障碍和敏感组织远离针刺路径,其次,纠正剩余针定位误差,控制穿刺肿瘤目标“主动”移向针刺轨迹直线并被放置其上,最后,实现图像引导下的精准穿刺。 An embodiment of the device along a straight path precise robotic-assisted soft tissue puncture target, the apparatus includes a position control execution means, the position control means performs a plurality of directions using a servo motor as a driving source for each electric actuator, the electric actuator comprising the end effector, the end effector is placed around the soft tissue surface, and a force in the direction of the simulation system is determined as a reference, in the needling process, the control means controls the position of the preset data in accordance with the motion controller, the soft tissue surfaces by applying a force executed controlling the position of a point of interest to a target shift operation: first, to improve the accessibility of the target tumors, to promote the application of the embodiment apparatus away from sensitive tissues and disorders needle path, and secondly, to correct the residual error in the positioning pin, the control target tumor puncturing "initiative "needle moves straight track and placed thereon, and finally, to achieve precise image guided puncture.
2. 如权利要求1所述的实施装置,其特征在于:电动执行器包括电动执行器I和电动执行器II,位置控制执行装置包括底座,其上分布有多个支架,各个支架通过各个定位螺钉分别与焊接在两个固定卡槽的套筒连接,套筒与支架的相对位置可改变,以调节固定卡槽I和固定卡槽II的相对高低,电动执行器I通过两个连接螺钉固定在固定卡槽I上,电动执行器11通过两个连接螺钉固定在固定卡槽11上,电动执行器I上连接有穿刺针,电动执行器II上连接有支撑板,支撑板与执行头连接,根据力的预加载的设置,布置电动执行器及选择其所连接的执行头或穿刺针。 By positioning each electric actuator comprises a respective bracket electric actuator electric actuator I and II, the position control execution means includes a base, a plurality of brackets distributed thereon,: 2. The apparatus as claimed in claim 1 embodiment, wherein two fixing screws each sleeve slot is connected to the welding, the relative position of the sleeve and the stent may be varied to adjust the relative height fixed jaw fixed jaw I and II, the electric actuator is connected by means of two screws I in the fixed slot I, the electric actuator 11 is fixed by means of two connecting screws 11 on the fixed jaw, the puncture needle is connected to the electric actuators I, is connected to the electric actuator support plate II, and an end effector connected to the support plate the preload force is provided, and the electric actuator is arranged to select or perform head which they are attached needle.
3. 如权利要求1所述的实施装置,其特征在于:执行头为导管。 3. The embodiment of the apparatus of claim 1, wherein: performing the first catheter.
CN201510621563.7A 2015-09-25 2015-09-25 Robot-assisted lancing along a straight path precise embodiment of the soft tissue target device CN105212995B (en)

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CN102018575A (en) * 2010-12-08 2011-04-20 清华大学 Robot-assisted system and method for controlling flexible needle to puncture soft tissues in real time
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