CN107625543A - The flexible intervention needle system of magnetic resonance compatible hand-portable - Google Patents
The flexible intervention needle system of magnetic resonance compatible hand-portable Download PDFInfo
- Publication number
- CN107625543A CN107625543A CN201710539858.9A CN201710539858A CN107625543A CN 107625543 A CN107625543 A CN 107625543A CN 201710539858 A CN201710539858 A CN 201710539858A CN 107625543 A CN107625543 A CN 107625543A
- Authority
- CN
- China
- Prior art keywords
- needle
- motor
- gear
- spur gear
- fixed mount
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The invention discloses the flexible intervention needle system of magnetic resonance compatible hand-portable, including：Fixed plate, needle tubing fixed mount, rigid needle outer tube, needle tubing fixed mount, rigid needle inner tube, rack, slide rail, gear retainer ring, spur gear, spur gear, shaft coupling, decelerator, motor, motor fixing seat, spur gear, turbine, worm screw, decelerator, motor fixing seat, motor, gear retainer ring, control button, control button, system shell, system shell, base, sliding block, sliding block, flexible needle；The system of the present invention can be convenient to use and carry in the environment of magnetic resonance, be simple to operate, doctor is flexibly used in operation.
Description
Technical field
The present invention relates to medical robot technical field, more particularly to minimally invasive medical robot field.
Background technology
At present, magnetic resonance compatible puncturing operation robot has invented tens kinds, can carry out forefront obtaining space first
Gland biopsy and seeds implanted operation, they have solved magnetic resonance compatible under magnetic resonance environment using magnetic resonance compatibility material
Problem.Some instruments realize translation and rotation vertically and horizontally.Tracking accuracy reaches grade under guided by magnetic resonance,
Obtain higher acupuncture treatment precision.But the interference with pubis is difficult to avoid that in prostate biopsy.Some apparatus structures are simple,
It is simple to operate, but it is difficult to use in complex operation.Some instruments are difficult to control precision.Some instrumentation control systems are more
The grasp of complicated inconvenient medical practitioner.Existing main Research Challenges have：(1) under restricted clearance robot configuration problem one
It has been exactly the difficult point in design since straight；(2) robot be also difficult to solve the problem of magnetic resonance environment, including material compatibility,
Driving compatibility, the compatibility of sensor and structural compatibility.
The content of the invention
The present invention proposes a kind of flexible intervention needle system of magnetic resonance compatible hand-portable, and the system with this feature passes through two
The effect of individual motor, it is connected between wheel and rack, it is that puncture needle promotes that rack pinion, which gives rack parallel motion, separately
Puncture needle rotation is given in one gear drive makes flexible needle do curvilinear motion, finally realizes the lancing motion of system.
The flexible intervention needle system of magnetic resonance compatible hand-portable, including：Big fixed plate, needle tubing fixed mount, rigid needle outer tube,
Needle tubing fixed mount, rigid needle middle pipe, rack, slide rail, gear retainer ring, spur gear, spur gear, shaft coupling, decelerator, motor,
Motor supporting base, small fixed plate, spur gear, turbine, worm screw, decelerator, motor supporting base, motor, gear retainer ring, control are pressed
Button, control button, system shell, system shell, base, sliding block, sliding block, flexible needle.
The flexible intervention needle system of magnetic resonance compatible hand-portable is by control flexible needle rotary motion part and control flexible needle
Part is axially moved to form.Rotary motion part part has rigid needle outer tube to be fixedly connected on big fixed version by two fixed mounts
On, rigid needle outer tube tail end is enclosed on rigid needle middle pipe top, and flexible needle is placed in rigid needle, outer tube.Flexible needle and rigidity
Pin middle pipe is fixed on fixed mount.Engagement is remained between two spur gears, and is respectively fixedly connected with by rolling bearing
On tooth rest, fixed mount is fixed in small fixed plate with threaded connection.Be screwed connection between motor and decelerator.Motor,
Connected between decelerator, shaft coupling and active spur gear by bearing.Motor is fixedly connected on motor supporting base with decelerator.Electricity
Machine support base, gear fixed mount and rack are connected in small fixed plate with being screwed.Driven and led by bearing after electric motor starting
Dynamic spur gear rotation, gear drive are given driven spur gear and rotated, while flexible very and then driven spur gear rotation.Flexible needle with
There is rotary motion between high resiliency middle pipe.In the absence of axial movement.
Axial movement part remains engagement between having straight-tooth wheel and rack.Remain and nibble between spur gear and turbine
Conjunction state, and be respectively fixedly connected with by rolling bearing on tooth rest.Gear meshing shape is remained between turbine and worm screw
State.Be screwed connection between motor and decelerator, and is fixed on motor supporting base.Electric motor starting drives worm screw rotation, snail
Worm and gear transmission, gear drive and rack pinion are axially moved high resiliency middle pipe and flexible needle.High resiliency middle pipe and height
Rotary motion is not present between elastic outer pipe.Button control above is axially moved part, the button control rotary motion of side
Part.System can be placed on base.
The advantage of the invention is that：
1st, can be adjusted according to the demand system length dimension in space.
2nd, curvilinear motion is done in the flexible needle puncture process used in systems, can be avoided in bone, blood vessel and human body
The obstacle such as other organs, flexibly, accurately arrive at target position.
3rd, the material of manufacturing system is magnetic resonance compatible, can be used under magnetic resonance environment.
Brief description of the drawings
Aspect of the present invention and/or additional and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and it is readily appreciated that；
Fig. 1 is the flexible intervention needle system overall diagram of magnetic resonance compatible hand-portable,
Fig. 2 is the flexible intervention needle system figure (side rear perspective) of magnetic resonance compatible hand-portable,
Fig. 3 is the flexible intervention needle system puncture needle front end partial view of magnetic resonance compatible hand-portable,
Wherein, in figure：The big fixed plates of 1-, 2- needle tubings fixed mount, 3- high resiliency outer tube, 4- needle tubings fixed mount, 5- high resiliency
Middle pipe, 6- racks, 7 slide rails, 8- needle tubings fixed mount, 9- gears fixed mount, 10- spur gears, 11- spur gears, 12- shaft couplings,
13- decelerators, 14- motors, 15- motor fixing seats, the small fixed plates of 16-, 17- spur gears, 18- turbines, 19- worm screws, 20- subtract
Fast device, 21- motor fixing seats, 22- motors, 23- gears fixed mount, 24- control buttons, 25- control buttons, 26- system shells,
27- bases, 28- sliding blocks, 29- sliding blocks, 30- flexible needles.
Embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
The present invention is a kind of modularization Arm Flexible machine people, as shown in figure 1, including big fixed plate 1, needle tubing fixed mount
2nd, rigid needle outer tube 3, needle tubing fixed mount 4, rigid needle inner tube 5, rack 6, slide rail 7, needle tubing fixed mount 8, gear fixed mount 9, straight
Gear 10, spur gear 11, shaft coupling 12, decelerator 13, motor 14, motor supporting base 15, the spur gear 17 of small fixed plate 16, turbine
18th, worm screw 19, decelerator 20, motor supporting base 21, motor 22, gear fixed mount 23, control button 24, control button 25, be
System shell 26, base 27, sliding block 28, sliding block 29, flexible needle 30.
Magnetic resonance compatible hand-portable flexibility needle system is made up of control section, running part, fixed part.Outside rigid needle
Pipe 3, rigid middle pipe 5 and flexible needle 30 pass through needle tubing fixed mount 2, needle tubing fixed mount 4 and the fixed-link of needle tubing fixed mount 8.Straight-tooth
Wheel 10 is fixed on gear fixed mount 9 with spur gear 11 by rolling bearing.Remained between spur gear 10 and spur gear 11
Gear engagement states.Motor 14 is threadably secured with decelerator 13 and is connected.Motor 14, decelerator 13, the spur gear of shaft coupling 12
Axis connection between 11.Decelerator 13 is fixed on motor supporting base 15 with motor 14.Needle tubing fixed mount 8, gear fixed mount 9, straight-tooth
Wheel 10, the shaft coupling 12 of spur gear 11, decelerator 13, motor 14, motor supporting base 15, rack 6, sliding block 28, sliding block 29 are all fixed
It is connected in small fixed plate 16.Rack-and-pinion links between rack 6 and spur gear 17, is protected all the time between spur gear 17 and turbine 18
Hold gear engagement states.Spur gear 17 is fixedly connected on gear fixed mount 23 with turbine 18 by rolling bearing.Worm gear 18 with
Gear engagement states are remained between worm screw 19.Decelerator 20 is connected on motor 22 with being screwed, decelerator 20 and electricity
Machine 22 is fixedly connected on motor supporting base 21.
Control button 24 connects motor 22 by line and controls it to rotate.The lower rotation of worm screw 19 of the effect of motor 2 give worm gear 18,
Mutually transmission is small to fix 16 and do axial lancing motion along slide rail between spur gear 17, rack 6.Plate control button 25 passes through line
Connecting motor 14 controls it to rotate.Motor 14 is given spur gear 10 by bearing and rotated, the raker tooth of spur gear 10 and spur gear 11
Wheel transmission makes flexible needle synchronous rotary.
The flexible intervention needle system of described magnetic resonance compatible hand-portable, in the case of keeping configuration constant, according to system work
The length dimension of system can be adjusted by making the demand in space.
Described control button 24, control button 25 ensure that in the case of its performance different moneys can be selected.
The described rigid needle extra heavy pipe 3 of fixed plate 1, rigid needle tubule 5, rack 6, the physical dimension of slide rail 7, including it is outer straight
Footpath, interior diameter and length can adjust, to meet the requirement of robot entire length and flexibility；
Described motor 14 and motor 22 use magnetic resonance compatible motor.
Described spur gear 10, spur gear, 11, spur gear 17, worm gear 18 and worm screw 19 modulus can according to joint it
Between the size of driving force and energy selected.
The described various working environment demands of motor 14 and motor 22 can use magnetic resonance compatible motor.
The angular speed demand really rotated according to flexibility of the described spur gear 11 of spur gear 10 can adjust their diameter
Size.
Described spur gear 17 and worm gear 18 moves axially speed requirement according to rigid middle pipe 5 to select diameter not
Same gear.
The course of work：
System electrification works, and coordinates controlled motor and (controls two motors respectively containing two control buttons 24,25 in system
22,14) motion, cause to produce relative rotational motion between system worm and gear gear.
Flexible needle axial direction advancing movement is punctured under the rack pinion effect of system elder generation.Another gear drive is given
Give flexible needle rotary motion.Rotation makes flexible needle needle point that needle body can be made to produce bending by lateral force, so as to pierce out arc
Curvilinear motion is done in track, avoids the obstacles such as other organs in bone, blood vessel and human body, flexibly, accurately arrives at target
Position.Operation risk can be reduced well, improve the precision of puncture.Make system minimally invasive with rotary motion by being axially moved
Aspiration biopsy and seeds implanted are completed in operation.
According to an embodiment of the invention, there is advantages below：
1st, can be adjusted according to the demand system length dimension in space.
2nd, curvilinear motion is done in the flexible needle puncture process used in systems, can be avoided in bone, blood vessel and human body
The obstacle such as other organs, flexibly, accurately arrive at target position.
3rd, the material of manufacturing system is magnetic resonance compatible, can be used under magnetic resonance environment.
Claims (7)
1. the flexible intervention needle system of magnetic resonance compatible hand-portable, it is characterised in that including big fixed plate (1), needle tubing fixed mount
(2), rigid needle outer tube (3), needle tubing fixed mount (4), rigid needle inner tube (5), rack (6), slide rail (7), needle tubing fixed mount (8),
Gear fixed mount (9), spur gear (10), spur gear (11), shaft coupling (12), decelerator (13), motor (14), motor supporting base
(15), small fixed plate (16) spur gear (17), turbine (18), worm screw (19), decelerator (20), motor supporting base (21), motor
(22), gear fixed mount (23), control button (24), control button (25), system shell (26), base (27), sliding block (28),
Sliding block (29), flexible needle (30).
Magnetic resonance compatible hand-portable flexibility needle system is made up of control section, running part, fixed part.Rigid needle outer tube
(3), rigid middle pipe (5) and flexible needle (30) are fixed by needle tubing fixed mount (2), needle tubing fixed mount (4) and needle tubing fixed mount (8)
Link.Spur gear (10) is fixed on gear fixed mount (9) with spur gear (11) by rolling bearing.Spur gear (10) and straight-tooth
Gear engagement states are remained between wheel (11).Motor (14) is threadably secured with decelerator (13) and is connected.Motor (14),
Axis connection between decelerator (13), shaft coupling (12) spur gear (11).Decelerator (13) is fixed on motor support with motor (14)
Seat (15).Needle tubing fixed mount (8), gear fixed mount (9), spur gear (10), spur gear (11) shaft coupling (12), decelerator
(13), motor (14), motor supporting base (15), rack (6), sliding block (28), sliding block (29) are all fixedly connected on small fixed plate
(16) on.Rack-and-pinion is linked between rack (6) and spur gear (17), and tooth is remained between spur gear (17) and turbine (18)
Take turns engagement.Spur gear (17) is fixedly connected on gear fixed mount (23) with turbine (18) by rolling bearing.Worm gear
(18) gear engagement states are remained between worm screw (19).Decelerator (20) is connected on motor (22) with being screwed,
Decelerator (20) is fixedly connected on motor supporting base (21) with motor (22).Control button (24) connects motor (22) by line
Control it to rotate.Control button (25) connects motor (14) by line and controls it to rotate.
2. the flexible intervention needle system of magnetic resonance compatible hand-portable according to claim 1, it is characterised in that described control
Button (24) processed, control button (25) can select different styles in the case of not changing its performance.
3. the flexible intervention needle system of magnetic resonance compatible hand-portable according to claim 1, it is characterised in that described fixation
Plate (1) rigid needle extra heavy pipe (3), rigid needle tubule (5), rack (6), the physical dimension of slide rail (7), including overall diameter, interior diameter
It can be adjusted with length, to meet the requirement of robot entire length and flexibility.
4. the flexible intervention needle system of magnetic resonance compatible hand-portable according to claim 1, it is characterised in that described electricity
Machine (14) and motor (22) use nonmagnetic motor.
5. the flexible intervention needle system of magnetic resonance compatible hand-portable according to claim 1, it is characterised in that described is straight
Gear (10), spur gear, (11), spur gear (17), the modulus of worm gear (18) and worm screw (19) can be driven according between joint
Power and the size of energy are selected.
6. the flexible intervention needle system of magnetic resonance compatible hand-portable according to claim 1, it is characterised in that described is straight
The angular speed demand rotated according to flexible needle of gear (10) spur gear (11) can adjust the size of their diameter.
7. the flexible intervention needle system of magnetic resonance compatible hand-portable according to claim 1, it is characterised in that using non-magnetic
It can be used after resonance compatible material in non-magnetic resonance environment.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710407071 | 2017-06-02 | ||
| CN2017104070717 | 2017-06-02 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107625543A true CN107625543A (en) | 2018-01-26 |
| CN107625543B CN107625543B (en) | 2021-01-19 |
Family
ID=61099283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710539858.9A Active CN107625543B (en) | 2017-06-02 | 2017-07-05 | Magnetic resonance compatible handheld flexible interventional needle system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107625543B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109124745A (en) * | 2018-10-31 | 2019-01-04 | 山东大学齐鲁医院 | A kind of automatic rotary uterus raising device and method |
| CN113679456A (en) * | 2021-09-17 | 2021-11-23 | 哈尔滨理工大学 | Flexible needle puncture device capable of adjusting needle inserting angle |
| CN114191091A (en) * | 2021-11-09 | 2022-03-18 | 深圳市爱博医疗机器人有限公司 | Supporting device and interventional operation robot with same |
| CN114557756A (en) * | 2022-03-29 | 2022-05-31 | 哈尔滨理工大学 | Multi-angle flexible needle puncture device based on spherical gear |
| CN114833824A (en) * | 2022-04-14 | 2022-08-02 | 北京亿康泰医疗科技有限公司 | Minimally invasive needle insertion robot control system and method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102499761A (en) * | 2011-11-16 | 2012-06-20 | 上海交通大学 | Positioning robot for puncture in nuclear magnetic resonance |
| CN103417303A (en) * | 2013-08-16 | 2013-12-04 | 天津大学 | Nuclear magnetism compatibility surgical robot based on screw drive |
| CN203763131U (en) * | 2014-04-13 | 2014-08-13 | 哈尔滨理工大学 | Mammary gland intervention robot compatible with nuclear magnetic resonance |
| CN105662548A (en) * | 2016-03-02 | 2016-06-15 | 郑哲龙 | Craniocerebral minimally-invasive puncture device with laser positioning function |
| CN106388939A (en) * | 2016-10-17 | 2017-02-15 | 中国矿业大学 | Magnetic-resonance compatible pneumatic puncture surgical robot |
| CN106420018A (en) * | 2016-11-29 | 2017-02-22 | 哈尔滨理工大学 | Flexible trocar concurrent puncture mechanism based on gear transmission |
| CN206080653U (en) * | 2016-07-18 | 2017-04-12 | 三爱医疗科技（深圳）有限公司 | Biplane ultrasonic guidance's prostate biopsy and particle implantation system |
-
2017
- 2017-07-05 CN CN201710539858.9A patent/CN107625543B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102499761A (en) * | 2011-11-16 | 2012-06-20 | 上海交通大学 | Positioning robot for puncture in nuclear magnetic resonance |
| CN103417303A (en) * | 2013-08-16 | 2013-12-04 | 天津大学 | Nuclear magnetism compatibility surgical robot based on screw drive |
| CN203763131U (en) * | 2014-04-13 | 2014-08-13 | 哈尔滨理工大学 | Mammary gland intervention robot compatible with nuclear magnetic resonance |
| CN105662548A (en) * | 2016-03-02 | 2016-06-15 | 郑哲龙 | Craniocerebral minimally-invasive puncture device with laser positioning function |
| CN206080653U (en) * | 2016-07-18 | 2017-04-12 | 三爱医疗科技（深圳）有限公司 | Biplane ultrasonic guidance's prostate biopsy and particle implantation system |
| CN106388939A (en) * | 2016-10-17 | 2017-02-15 | 中国矿业大学 | Magnetic-resonance compatible pneumatic puncture surgical robot |
| CN106420018A (en) * | 2016-11-29 | 2017-02-22 | 哈尔滨理工大学 | Flexible trocar concurrent puncture mechanism based on gear transmission |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109124745A (en) * | 2018-10-31 | 2019-01-04 | 山东大学齐鲁医院 | A kind of automatic rotary uterus raising device and method |
| CN109124745B (en) * | 2018-10-31 | 2024-05-17 | 山东大学齐鲁医院 | Automatic rotary uterine manipulator and method |
| CN113679456A (en) * | 2021-09-17 | 2021-11-23 | 哈尔滨理工大学 | Flexible needle puncture device capable of adjusting needle inserting angle |
| CN113679456B (en) * | 2021-09-17 | 2024-03-22 | 哈尔滨理工大学 | Flexible needle puncture device capable of adjusting needle insertion angle |
| CN114191091A (en) * | 2021-11-09 | 2022-03-18 | 深圳市爱博医疗机器人有限公司 | Supporting device and interventional operation robot with same |
| CN114191091B (en) * | 2021-11-09 | 2024-06-04 | 深圳爱博合创医疗机器人有限公司 | Supporting device and interventional operation robot with same |
| CN114557756A (en) * | 2022-03-29 | 2022-05-31 | 哈尔滨理工大学 | Multi-angle flexible needle puncture device based on spherical gear |
| CN114557756B (en) * | 2022-03-29 | 2024-03-15 | 哈尔滨理工大学 | Multi-angle flexible needle puncture device based on spherical gear |
| CN114833824A (en) * | 2022-04-14 | 2022-08-02 | 北京亿康泰医疗科技有限公司 | Minimally invasive needle insertion robot control system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107625543B (en) | 2021-01-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107625543A (en) | The flexible intervention needle system of magnetic resonance compatible hand-portable | |
| CN107411821B (en) | Five degree of freedom flexibility Needle-driven Robot | |
| CN106420018B (en) | Gear transmission-based sleeve flexible needle synchronous puncture mechanism | |
| CN110236684B (en) | Slave-end propelling device of interventional operation robot and control method thereof | |
| CN109044533B (en) | Minimally invasive interventional operation robot for urinary surgery | |
| CN102028549B (en) | Catheter robot system for minimally invasive interventional operation in blood vessel | |
| CN110755137A (en) | Pre-bent needle puncture mechanism capable of realizing controllable continuous curvature based on separated needle core feeding and application method thereof | |
| CN106175917A (en) | Intersection of sliding perspective orthopaedics pedicle screw inserts auxiliary equipment | |
| CN112426207A (en) | Four-degree-of-freedom fixed support used in lung puncture operation of hospital | |
| CN107775632B (en) | A kind of forearm vein Needle-driven Robot | |
| CN108042932A (en) | A kind of ultrasonic probe control device in MRI-pHIFU thermal therapy systems | |
| CN111035455A (en) | Venipuncture robot with decoupled position and posture | |
| CN109223053A (en) | A kind of prostate biopsy robot | |
| CN215129679U (en) | Four-degree-of-freedom fixed support used in hospital lung puncture operation | |
| CN113598951A (en) | Catheter driving mechanism, blood vessel interventional robot and catheter driving method | |
| CN206499516U (en) | One kind is based on the synchronous piercing mechanism of gear-driven sleeve pipe flexible needle | |
| CN108524002A (en) | A kind of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint | |
| CN210056223U (en) | Robot rotating device and medical robot | |
| CN101947135B (en) | Remote-control puncturing and positioning system under C arm machine introduction | |
| CN108266498A (en) | A kind of three planet carriers, nine tooth the second planet carrier secondary planet train formula RCM mechanisms | |
| CN116036445A (en) | Guide wire linear and rotary synchronous executing mechanism, surgical instrument and surgical robot | |
| CN205268798U (en) | Inserting needle mechanism of flexible needle of bushing type | |
| CN113425390B (en) | Magnetic drive type flexible needle puncture mechanism | |
| CN115607288A (en) | Minimally invasive surgery robot compatible with MRI and CT environments | |
| CN108006173A (en) | Four planet carriers, 11 tooth the first planet carrier secondary planet train formula RCM mechanisms |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |