CN107625543B - Magnetic resonance compatible handheld flexible interventional needle system - Google Patents
Magnetic resonance compatible handheld flexible interventional needle system Download PDFInfo
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- CN107625543B CN107625543B CN201710539858.9A CN201710539858A CN107625543B CN 107625543 B CN107625543 B CN 107625543B CN 201710539858 A CN201710539858 A CN 201710539858A CN 107625543 B CN107625543 B CN 107625543B
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Abstract
The invention discloses a magnetic resonance compatible handheld flexible interventional needle system, which comprises: the device comprises a fixing plate, a needle tube fixing frame, a rigid needle outer tube, a needle tube fixing frame, a rigid needle inner tube, a rack, a sliding rail, a gear fixing ring, a straight gear, a coupler, a speed reducer, a motor fixing seat, a straight gear, a turbine, a worm, a speed reducer, a motor fixing seat, a motor, a gear fixing ring, a control button, a system shell, a base, a sliding block and a flexible needle; the system of the invention can be used in the magnetic resonance environment, is convenient to carry and simple to operate, and enables doctors to use flexibly in the operation.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to the field of minimally invasive medical robots.
Background
At present, dozens of magnetic resonance compatible puncture surgical robots have been invented, which can perform prostate biopsy and particle implantation operation in the first place, and they have solved the magnetic resonance compatibility problem by using magnetic resonance compatible materials under the magnetic resonance environment. Some instruments achieve translation and rotation in the vertical and horizontal directions. The tracking precision reaches millimeter level under the guidance of magnetic resonance, and higher acupuncture precision is obtained. But interference with the pubis is difficult to avoid in prostate biopsies. Some instruments have simple structures and simple operations, but are difficult to be used for more complicated operations. Some instruments are difficult to control the precision. Some instrument control systems are complex and inconvenient for a professional doctor to master. The main research difficulties exist: (1) the problem of the configuration of the robot in the limited space is always a difficult point in the design; (2) the problems of the robot and the magnetic resonance environment are also difficult to solve, including material compatibility, drive compatibility, compatibility of sensors, and structural compatibility.
Disclosure of Invention
The invention provides a magnetic resonance compatible handheld flexible interventional needle system, which is characterized in that a gear and a rack are connected through the action of two motors, the rack is driven by the gear and the rack to move in parallel to push a puncture needle, the puncture needle is driven by the other gear to rotate to enable the flexible needle to move in a curve, and finally the puncture movement of the system is realized.
A magnetic resonance compatible handheld flexible interventional needle system comprising: the needle tube fixing device comprises a large fixing plate, a needle tube fixing frame I, a rigid needle outer tube, a needle tube fixing frame II, a rigid needle inner tube, a rack, a sliding rail, a needle tube fixing frame III, a gear fixing frame I, a straight gear II, a coupler, a speed reducer I, a motor supporting seat I, a small fixing plate, a straight gear III, a turbine, a worm, a speed reducer II, a motor supporting seat II, a motor II, a gear fixing frame II, a control button I, a control button II, a system shell, a base, a sliding block I, a sliding block II and.
The magnetic resonance compatible hand-held portable flexible interventional needle system consists of a flexible needle rotation controlling part and a flexible needle axial moving controlling part. The rotary motion part is provided with a rigid needle outer tube which is fixedly connected on a large fixed plate through two fixed frames, the tail end of the rigid needle outer tube is sleeved at the top end of the rigid needle inner tube, and a flexible needle is arranged in the rigid needle and inside the rigid needle. The flexible needle and the rigid needle inner tube are fixed on the fixing frame. The two straight gears are always kept in a meshed state and are respectively and fixedly connected to the gear carrier through rolling bearings, and the fixed frame is fixedly connected to the small fixed plate through threads. The first motor is fixedly connected with the first speed reducer through threads. The first motor, the first speed reducer, the coupler and the driving straight gear are connected through bearings. The first motor and the first speed reducer are fixedly connected to the first motor supporting seat. The motor supporting seat I, the gear fixing frame I and the rack are fixedly connected to the small fixing plate through threads. After the motor is started, the driving straight gear is driven to rotate through the bearing, the driven straight gear is driven to rotate through gear transmission, and meanwhile, the driving straight gear and the driven straight gear are flexibly and really rotated. The flexible needle and the high-elasticity middle tube rotate. There is no axial movement.
The axial moving part has straight gears and racks which are always kept in a meshed state. The straight gear and the turbine are always meshed and are respectively fixedly connected to the gear frame through rolling bearings. The worm wheel and the worm are always in a gear meshing state. The motor is fixedly connected with the speed reducer through threads and is fixed on the motor supporting seat. The motor is started to drive the worm to rotate, and the rigid needle inner tube and the flexible needle axially move through worm gear transmission, gear transmission and gear rack transmission. There is no rotational movement between the rigid needle inner tube and the rigid needle outer tube. The front button controls the axial moving part and the side button controls the rotational moving part. The system may be placed on a base.
The invention has the advantages that:
1. the length of the system can be adjusted according to the space requirement.
2. The flexible needle used in the system does curvilinear motion in the puncture process, can avoid the obstacles of bones, blood vessels, other organs in the human body and the like, and flexibly and accurately reaches the target point position.
3. The material from which the system is made is magnetic resonance compatible and can be used in a magnetic resonance environment.
Drawings
The described and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings;
wherein, in the figure: 1-large fixed plate, 2-needle tube fixed mount I, 3-rigid needle outer tube, 4-needle tube fixed mount II, 5-rigid needle inner tube, 6-rack, 7-slide rail, 8-needle tube fixed mount III, 9-gear fixed mount I, 10-straight gear I, 11-straight gear II, 12-coupler, 13-reducer I, 14-motor I, 15-motor support I, 16-small fixed plate, 17-straight gear III, 18-turbine, 19-worm, 20-reducer II, 21-motor support II, 22-motor II, 23-gear fixed mount II, 24-control button I, 25-control button II, 26-system shell, 27-base, 28-slide block I, 29-slide block II, 30-flexible needle.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The invention relates to a modularized multi-joint flexible robot, which comprises a large fixing plate 1, a needle tube fixing frame I2, a rigid needle outer tube 3, a needle tube fixing frame II 4, a rigid needle inner tube 5, a rack 6, a sliding rail 7, a needle tube fixing frame III 8, a gear fixing frame I9, a straight gear I10, a straight gear I11, a coupler 12, a reducer I13, a motor I14, a motor supporting seat I15, a small fixing plate 16, a straight gear III 17, a turbine 18, a worm 19, a reducer II 20, a motor supporting seat II 21, a motor II 22, a gear fixing frame II 23, a control button I24, a control button II 25, a system shell 26, a base 27, a sliding block I28, a sliding block II 29 and a flexible needle 30, wherein the flexible robot is provided with a.
The magnetic resonance compatible handheld portable flexible needle system is composed of a control part, a transmission part and a fixing part. The rigid needle outer tube 3, the rigid needle inner tube 5 and the flexible needle 30 are fixedly connected to the large fixing plate (1) through a needle tube fixing frame I2, a needle tube fixing frame II 4 and a needle tube fixing frame III 8. The first straight gear 10 and the second straight gear 11 are fixed on the first gear fixing frame 9 through rolling bearings. The first straight gear 10 and the second straight gear 11 always keep a gear meshing state. The motor I14 is fixedly connected with the speed reducer I13 through threads. And the first motor 14, the first speed reducer 13, the coupling 12 and the second spur gear 11 are connected through a shaft. The first speed reducer 13 and the first motor 14 are fixed on the first motor support seat 15. The needle tube fixing frame III 8, the gear fixing frame I9, the straight gear I10, the straight gear II 11, the coupling 12, the speed reducer I13, the motor 14, the motor supporting seat I15, the rack 6, the sliding block I28 and the sliding block II 29 are all fixedly connected to the small fixing plate 16. The rack 6 is linked with the third straight gear 17 through a gear and a rack, and the third straight gear 17 and the turbine 18 are always in a gear meshing state. The third straight gear 17 and the turbine 18 are fixedly connected to the second gear fixing frame 23 through rolling bearings. The worm wheel 18 and the worm 19 are always in a gear engagement state. The second speed reducer 20 is fixedly connected to the second motor 22 through threads, and the second speed reducer 20 and the second motor 22 are fixedly connected to the second motor support base 21.
The first control button 24 is connected with the second motor 22 through a wire to control the rotation of the second motor. Under the action of the second motor 22, the worm 19 rotates to drive the worm wheel 18, the straight gear 17 and the rack 6 to mutually transmit, so that the small fixing plate 16 makes axial puncture motion along the slide rail 7. The second control button 25 is connected with the first motor 14 through a wire to control the rotation of the first motor. The first motor 14 gives rotation to the first straight gear 10 through a bearing, and the flexible needle synchronously rotates through gear transmission between the first straight gear 10 and the second straight gear 11.
The magnetic resonance compatible handheld flexible interventional needle system can adjust the length and the size of the system according to the requirement of the working space of the system under the condition of keeping the configuration unchanged.
The first control button 24 and the second control button 25 can be selected in different types under the condition that the performance of the device is guaranteed.
The structural dimensions of the large fixing plate 1, the rigid needle outer tube 3, the rigid needle inner tube 5, the rack 6 and the slide rail 7 comprise the outer diameter, and the inner diameter and the length can be adjusted to meet the requirements of the overall length and the flexibility of the robot;
the first motor 14 and the second motor 22 adopt magnetic resonance compatible motors.
The modulus of the first straight gear 10, the second straight gear 11, the third straight gear 17, the worm wheel 18 and the worm 19 can be selected according to the transmission force and energy between joints.
The first motor 14 and the second motor 22 can adopt magnetic resonance compatible motors according to various working environment requirements.
The diameters of the first straight gear 10 and the second straight gear 11 can be adjusted according to the requirement of the angular speed of the rotation of the flexible needle.
The third straight gear 17 and the worm gear 18 can select gears with different diameters according to the requirement of the axial moving speed of the rigid needle inner tube 5.
The working process is as follows:
the system is powered on to work, and the movement of the control motors (the system comprises two control buttons 24 and 25 which respectively control the two motors 22 and 14) is coordinated, so that relative rotation movement is generated between worm gears of the system.
The system firstly enables the flexible needle to axially advance to move under the transmission action of the gear and the rack for puncture. The other gear drive imparts rotational motion to the flexible needle. The flexible needle point can be bent by the lateral acting force caused by the rotation, so that an arc-shaped track is punctured to do curvilinear motion, the obstacles such as bones, blood vessels and other organs in the human body are avoided, and the flexible needle can flexibly and accurately reach the target point position. Can well reduce the operation risk and improve the puncture precision. The system can complete the puncture biopsy and the particle implantation in the minimally invasive surgery through the axial movement and the rotation movement.
According to the embodiment of the invention, the following advantages are provided:
1. the length of the system can be adjusted according to the space requirement.
2. The flexible needle used in the system does curvilinear motion in the puncture process, can avoid the obstacles of bones, blood vessels, other organs in the human body and the like, and flexibly and accurately reaches the target point position.
3. The material from which the system is made is magnetic resonance compatible and can be used in a magnetic resonance environment.
Claims (1)
1. The magnetic resonance compatible handheld flexible interventional needle system is characterized by comprising a large fixing plate (1), a needle tube fixing frame I (2), a rigid needle outer tube (3), a needle tube fixing frame II (4), a rigid needle inner tube (5), a rack (6), a sliding rail (7), a needle tube fixing frame III (8), a gear fixing frame I (9), a straight gear I (10), a straight gear II (11), a coupler (12), a speed reducer I (13), a motor I (14), a motor supporting seat I (15), a small fixing plate (16), a straight gear III (17), a worm gear (18), a worm (19), a speed reducer II (20), a motor supporting seat II (21), a motor II (22), a gear fixing frame II (23), a control button I (24), a control button II (25), a system shell (26), a base (27), a sliding block I (28), a sliding block II (29), A flexible needle (30); a large fixing plate (1) is arranged on the base (27);
the rigid needle outer tube (3), the rigid needle inner tube (5) and the flexible needle (30) are fixedly connected to the large fixing plate (1) through a needle tube fixing frame I (2), a needle tube fixing frame II (4) and a needle tube fixing frame III (8); a first straight gear (10) and a second straight gear (11) are fixed on a first gear fixing frame (9) through rolling bearings; a first straight gear (10) and a second straight gear (11) are always kept in a gear meshing state; the first motor (14) is fixedly connected with the first speed reducer (13) through threads; the first motor (14), the first speed reducer (13), the coupling (12) and the second straight gear (11) are connected through a shaft; the first speed reducer (13) and the first motor (14) are fixed on the first motor support seat (15); a needle tube fixing frame III (8), a gear fixing frame I (9), a straight gear I (10), a straight gear II (11), a coupling (12), a speed reducer I (13), a motor I (14), a motor supporting seat I (15), a rack (6), a sliding block I (28) and a sliding block II (29) are all fixedly connected to a small fixing plate (16); the small fixing plate (16) is in sliding fit with a sliding rail (7) on the large fixing plate (1) through a first sliding block (28) and a second sliding block (29), a third straight gear (17) is located below the rack (6), the rack (6) is in gear-rack connection with the third straight gear (17), and the third straight gear (17) and the worm gear (18) are always in a meshed state; the straight gear III (17) and the worm gear (18) are fixedly connected to the gear fixing frame II (23) through a rolling bearing; the worm wheel (18) and the worm (19) are always in a meshed state; the second speed reducer (20) is fixedly connected to the second motor (22) through threads, and the second speed reducer (20) and the second motor (22) are fixedly connected to the second motor support base (21); the control button I (24) is connected with the motor II (22) through a wire to control the rotation of the motor II; the control button II (25) is connected with the motor I (14) through a wire to control the rotation of the motor I;
the sizes of the large fixing plate (1), the rigid needle outer tube (3), the rigid needle inner tube (5), the rack (6) and the sliding rail (7) can be adjusted so as to meet the requirements of the whole length and flexibility of the interventional needle system;
the first motor (14) and the second motor (22) both adopt nonmagnetic motors; the diameters of the first straight gear (10) and the second straight gear (11) can be adjusted according to the requirement of the rotating angular speed of the flexible needle (30);
the second motor (22) drives the worm (19) to rotate, then the third straight gear (17) is driven to rotate through the worm gear (18), the third straight gear (17) is meshed with the rack (6), and the rack (6) drives the small fixing plate (16) to do axial puncture motion along the sliding rail (7); the first motor (14) drives the first straight gear (10) to rotate through the first speed reducer (13) and the coupler (12), and the first straight gear (10) and the second straight gear (11) are in gear transmission to enable the flexible needle (30) to rotate synchronously.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017104070717 | 2017-06-02 | ||
| CN201710407071 | 2017-06-02 |
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| Publication Number | Publication Date |
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| CN107625543A CN107625543A (en) | 2018-01-26 |
| CN107625543B true CN107625543B (en) | 2021-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710539858.9A Active CN107625543B (en) | 2017-06-02 | 2017-07-05 | Magnetic resonance compatible handheld flexible interventional needle system |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109124745B (en) * | 2018-10-31 | 2024-05-17 | 山东大学齐鲁医院 | Automatic rotary uterine manipulator and method |
| 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 |
| 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 |
| 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 |
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| CN203763131U (en) * | 2014-04-13 | 2014-08-13 | 哈尔滨理工大学 | Mammary gland intervention robot compatible with nuclear magnetic resonance |
| CN106388939A (en) * | 2016-10-17 | 2017-02-15 | 中国矿业大学 | Magnetic-resonance compatible pneumatic puncture surgical robot |
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| CN102499761B (en) * | 2011-11-16 | 2013-09-04 | 上海交通大学 | Positioning robot for puncture in nuclear magnetic resonance |
| CN103417303B (en) * | 2013-08-16 | 2016-01-20 | 天津大学 | Based on the nuclear magnetism compatibility surgical robot of silk transmission |
| 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 |
| CN106420018B (en) * | 2016-11-29 | 2023-08-11 | 哈尔滨理工大学 | Gear transmission-based sleeve flexible needle synchronous puncture mechanism |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203763131U (en) * | 2014-04-13 | 2014-08-13 | 哈尔滨理工大学 | Mammary gland intervention robot compatible with nuclear magnetic resonance |
| CN106388939A (en) * | 2016-10-17 | 2017-02-15 | 中国矿业大学 | Magnetic-resonance compatible pneumatic puncture surgical robot |
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