CN107773305A - A kind of four-degree-of-freedom tumor puncture auxiliary robot - Google Patents
A kind of four-degree-of-freedom tumor puncture auxiliary robot Download PDFInfo
- Publication number
- CN107773305A CN107773305A CN201710810376.2A CN201710810376A CN107773305A CN 107773305 A CN107773305 A CN 107773305A CN 201710810376 A CN201710810376 A CN 201710810376A CN 107773305 A CN107773305 A CN 107773305A
- Authority
- CN
- China
- Prior art keywords
- slide unit
- guide rod
- contact pin
- drive
- ball screw
- 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.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- 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
-
- 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
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of four-degree-of-freedom tumor puncture auxiliary robot, belong to technical field of surgical instruments, it includes contact pin apparatus, the first oscillatory gearing mechanism, the second oscillatory gearing mechanism, the first translation driving device and the second translation driving device；The contact pin apparatus is used to complete puncture action, first oscillatory gearing mechanism is used to drive the contact pin apparatus to swing around Y direction, second oscillatory gearing mechanism is used to drive the contact pin apparatus to swing around X-direction, first translation driving device is used to drive the contact pin apparatus to translate along X-direction, and the second translation driving device is used to drive the contact pin apparatus to translate along Y direction.The mechanical automation and intellectuality threaded a needle can be realized using the present invention, specification surgical procedure, reduces artificial and sense datum influence, mitigates doctor's working strength, improve doctor's operating efficiency, and improve the accuracy and success rate of operation.
Description
Technical field
The invention belongs to technical field of surgical instruments, more particularly to a kind of four-degree-of-freedom tumor puncture auxiliary robot.
Background technology
At present, 20 the percent of clinic can be only accounted in liver cancer patient with the patient of surgery excision, as a kind of modern
Minimally invasive liver cancer treatment method, wear the therapeutic effect that there is Acupuncture Treatment operation of liver cancer general liver resection not possess
The advantages that good, minimally invasive, recovery time is short, thus it is particularly extensive in the field application such as oncotherapy, detection.It is however, currently known
Centesis depend on the surgical skills of doctor, puncture accuracy and success rate place one's entire reliance upon the experience of doctor, it is difficult to
The deviation for overcoming the factors such as shake to bring.Simultaneously because the limitation of apparatus is difficult to accurately perform desired trajectory, multiple scanning is caused,
Repeated puncture, success rate is low, and patient's pain is big.
CN106580405A discloses a kind of puncturing operation robot system, and its robot body includes positioning from top to bottom
Plate, lifting positioning base, pillar, three coordinate machine tool arm and two-axle rotating table, two-axle rotating table includes turntable W and turntable V, location-plate lead to
Cross glue to be fixed on ground, lifting positioning base is located above location-plate, and guide rail is installed on the second fixed plate upper surface, rises
Drop plate is by linear bearing and guide rail contact and can be slided on guide rail, and the first fixed plate lower surface is installed on guide rail, deceleration
Motor is installed on the first fixed plate upper surface and is connected by leading screw with the nut on lifter plate, and castor is installed on lifting
On four angles of plate；Pillar lower surface is installed on the first fixed plate upper surface, and the 3rd fixed plate is installed on pillar upper surface, even
Bar is connected by rotating shaft with the 3rd fixed plate, and display is installed on connecting rod, and it is solid that three coordinate mechanical arm X-axis guide rails are installed on the 3rd
On fixed board lower surface, Z axis guide rail is installed in X-axis slide block perpendicular to X-axis guide rail, and Y-axis guide rail is perpendicular to plane where X-axis, Z axis
It is installed on Z axis sliding block, turntable W is installed on Y-axis end, and turntable V is installed on by the first connector on turntable W output shafts and it
Rotating shaft is orthogonal with turntable V rotating shafts, and paw is installed on turntable V output shafts by the second connector.Above-mentioned robot system architecture
Complexity, control is complicated, installation and maintenance inconvenience, and manufacturing cost is very high, is unfavorable for a wide range of popularization and application.
As can be seen here, prior art is up for further improving.
The content of the invention
The present invention is to avoid above-mentioned the shortcomings of the prior art part, there is provided a kind of four-degree-of-freedom tumor puncture auxiliary
Robot, realize that height precisely punctures to be acted by the machine of self-action.
The technical solution adopted in the present invention is：
A kind of four-degree-of-freedom tumor puncture auxiliary robot, including contact pin apparatus, the first oscillatory gearing mechanism, the second swing
Drive device, the first translation driving device and the second translation driving device；The contact pin apparatus acts for completing puncture, and first
Oscillatory gearing mechanism is used to drive the contact pin apparatus to swing around Y direction, and the second oscillatory gearing mechanism is used to drive described insert
Needle device is swung around X-direction, and the first translation driving device is used to drive the contact pin apparatus to translate along X-direction, and second is flat
Drive device is moved to be used to drive the contact pin apparatus to translate along Y direction.
The contact pin apparatus includes syringe needle and syringe needle mounting seat, and syringe needle is arranged on the bottom of syringe needle mounting seat, contact pin apparatus
Also include the first lifting drive for driving the syringe needle mounting seat to be lifted along Z-direction；First lifting drive
Including the first slide unit, lifting motor and the first ball screw assembly, the first ball screw assembly, is driven by lifting motor, the first ball wire
Thick stick pair is set along Z-direction, and the first ball screw assembly, is connected with the first slide unit, and lifting motor is driven by the first ball screw assembly,
First slide unit does linear reciprocating motion along Z-direction, and the syringe needle mounting seat is arranged on the first slide unit and same with the first slide unit
Step motion.
The contact pin apparatus also includes mounting bracket and lifting guide mechanism, and the lifting motor is arranged on mounting bracket, rises
Dropping guiding mechanism includes lifting guide rod and for the upper positioning seat for installing lifting guide rod and lower positioning seat, lifting guide rod edge
Z-direction is set, and upper and lower positioning seat is separately positioned on mounting bracket, and lifting guide rod is located at the side of the first ball screw assembly,
First slide unit is nested with lifting guide rod, and the top for lifting guide rod is fixed on positioning seat, bottom is fixed on lower positioning
On seat, the first slide unit slides in the presence of lifting motor and the first ball screw assembly, along above and below lifting guide rod.
First oscillatory gearing mechanism includes the first electric rotating machine, first rotating shaft and for installing the contact pin apparatus
Crotch, first rotating shaft are set along Y direction, and contact pin apparatus is rotatablely connected by first rotating shaft and the crotch, first rotating shaft with
The output shaft of first electric rotating machine is connected, and is rotated under the drive of the first electric rotating machine, so as to drive contact pin apparatus around Y-axis side
To swing.
Second oscillatory gearing mechanism includes the second electric rotating machine and the second rotating shaft, and the second rotating shaft is set along X-direction,
One end of second rotating shaft is connected with the output shaft of the second electric rotating machine, the other end is connected with the crotch, and the second electric rotating machine leads to
Crossing the second rotating shaft drives crotch to be rotated around X-direction, so as to drive contact pin apparatus to be swung around X-direction.
Second oscillatory gearing mechanism is connected with contact pin apparatus, first translation driving device include upper backup pad,
Middle supporting plate, the second slide unit, the first translation motor and the second ball screw assembly, the second oscillatory gearing mechanism are arranged on upper backup pad
On, the first translation motor be arranged on middle supporting plate on, the second ball screw assembly, is set along X-direction, the second ball screw assembly, by
First translation motor drives, and the second slide unit is connected with the second ball screw assembly, and the top of the second slide unit is consolidated with the upper backup pad
Even, first translation motor drives the second oscillatory gearing mechanism along X-direction by the second ball screw assembly, and the second slide unit
Translation, so as to drive the contact pin apparatus synchronous translational being connected with the second oscillatory gearing mechanism.
First translation driving device also includes the first guided in translation mechanism, and the first guided in translation mechanism is led including first
To bar and left positioning seat and right positioning seat, the first guide rod for installing the first guide rod are set along X-direction, and first is oriented to
Bar is located at the side of the second ball screw assembly, and the left end of the first guide rod is arranged on left positioning seat, right-hand member is arranged on right positioning
On seat, the second slide unit is nested with the first guide rod, effect of second slide unit in the first translation motor and the second ball screw assembly,
The guide rod of lower edge first is provided with left touching pin, is provided with the right side on the right side of the second slide unit toward polyslip on the left of second slide unit
Pin is touched, left limit sensor is provided with left positioning seat, right limit sensor is provided with right positioning seat.
Second translation driving device includes lower supporting plate, the 3rd slide unit, the second translation motor and the 3rd ball-screw
Pair, the top of the 3rd slide unit are connected with the middle supporting plate, and the second translation motor is arranged on lower supporting plate, the 3rd ball-screw
Pair is set along Y direction, and the 3rd ball screw assembly, is driven by the second translation motor, the 3rd slide unit and the 3rd ball-screw parafacies
Even, second translation motor drives the first translation driving device along Y direction by the 3rd ball screw assembly, and the 3rd slide unit
Translation, so as to drive the second oscillatory gearing mechanism to be translated together with contact pin apparatus along Y direction.
Second translation driving device also includes the second guided in translation mechanism, and the second guided in translation mechanism is led including second
To bar and prelocalization seat and rear positioning seat, the second guide rod for installing the second guide rod are set along Y direction, and second is oriented to
Bar is located at the side of the 3rd ball screw assembly, and the front end of the second guide rod is arranged on prelocalization seat, rear end positions after being arranged on
On seat, the 3rd slide unit is nested with the second guide rod, effect of the 3rd slide unit in the second translation motor and the 3rd ball screw assembly,
The guide rod of lower edge second is toward polyslip, touching pin before being provided with front side of the 3rd slide unit, after being provided with rear side of the 3rd slide unit
Pin is touched, front limit sensor is provided with prelocalization seat, rear limit sensors is provided with rear positioning seat.
The robot also includes being used to drive the contact pin apparatus, the first oscillatory gearing mechanism, the second wobble drive dress
Put, the second lifting drive of the first translation driving device and the second translation driving device integral elevating, the second lifting driving
Device includes base and expansion bracket, and the bottom of expansion bracket is connected with base, and the top of expansion bracket is connected with the lower supporting plate.
By adopting the above-described technical solution, having the beneficial effect that acquired by the present invention：
1st, the present invention is compact-sized, suitable for realizing multifreedom motion in space of threading a needle；Working space is big, is adapted to a variety of
Crowd, which performs the operation, to be needed；Positioning precision is high, coordinates stopping means to realize the accurate acquisition of organ site.And present invention operation is flat
Slow, security performance is high.
2nd, the mechanical automation and intellectuality threaded a needle can be realized using the present invention, specification surgical procedure, reduced artificial
With the influence of sense datum, mitigate doctor's working strength, improve doctor's operating efficiency, and improve the accuracy and successfully of operation
Rate.
Brief description of the drawings
Fig. 1 is the axonometric drawing of the present invention.
Fig. 2 is the front view of the present invention.
Fig. 3 is the right view of the present invention.
Fig. 4 is the top view of the present invention.
Wherein,
1st, syringe needle 2, syringe needle mounting seat 3, the first slide unit 4, the first leading screw 5, lifting motor 6, mounting bracket 7, upper fixed
Position seat 8, lower positioning seat 9, the first electric rotating machine 10, crotch 11, front rotary shaft 12, rear rotating shaft 13, the second electric rotating machine
14th, the second rotating shaft 15, upper backup pad 16, the second slide unit 17, the first translation motor 18, middle supporting plate 19, left positioning seat
20th, the second leading screw 21, the first guide rod 22, right positioning seat 23, lifting guide rod 24, the second translation motor 25, lower support
Plate 26, prelocalization seat 27, the 3rd leading screw 28, the second guide rod 29, the 3rd slide unit 30, rear positioning seat 31, expansion bracket
32nd, set lever 33, base
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings, but the present invention is not limited to
These embodiments.
For convenience of description the present invention, vertical direction is defined as Z-direction, will laterally be defined as X-direction, will with X-axis,
The perpendicular direction of plane that Z axis cooperatively forms is defined as Y direction.
As shown in Figures 1 to 4, a kind of four-degree-of-freedom tumor puncture auxiliary robot, including contact pin apparatus, the first swing drive
Dynamic device, the second oscillatory gearing mechanism, the first translation driving device and the second translation driving device.
The contact pin apparatus is used to complete puncture action.The contact pin apparatus includes syringe needle 1 and syringe needle mounting seat 2, syringe needle 1
The bottom of syringe needle mounting seat 2 is arranged on, contact pin apparatus also includes drive the syringe needle mounting seat 2 to be lifted along Z-direction first
Lifting drive.
First lifting drive includes the first slide unit 3, the ball screw assembly, of lifting motor 5 and first, the first ball
Lead screw pair is driven by lifting motor 5, and the first ball screw assembly, is set along Z-direction.First ball screw assembly, includes being mutually adapted
The first leading screw 4 and the first nut.First nut is arranged on the first slide unit 3.Lifting motor 5 passes through the first ball-screw subband
Dynamic first slide unit 3 does linear reciprocating motion along Z-direction, and the syringe needle mounting seat 2 is arranged on the first slide unit 3 and slided with first
Platform 3 is synchronized with the movement.
Certainly, the first lifting drive in the present invention is not limited only to above-mentioned by lifting motor 5 and first
The mode that ball screw assembly, is engaged, other modes can also be used, it is for instance possible to use hydraulic cylinder or cylinder driving first are slided
The mode that platform 3 moves, makes the first slide unit 3 be connected with the piston rod of hydraulic cylinder or cylinder, and the is directly driven by hydraulic cylinder or cylinder
One slide unit 3 lifts.It is of course also possible to use other frame modes, as long as first slide unit 3 can be driven to lift.
The contact pin apparatus also includes mounting bracket 6 and lifting guide mechanism.The lifting motor 5 is arranged on mounting bracket 6.
Lifting guide mechanism includes lifting guide rod 23 and for the upper positioning seat 7 for installing lifting guide rod 23 and lower positioning seat 8, lifting
Guide rod 23 is set along Z-direction, and lifting guide rod 23 has two, and it is located at the both sides of the first leading screw 4 respectively.Upper and lower positioning
Seat is separately positioned on mounting bracket 6, and the first slide unit 3 is nested with to be lifted on guide rod 23 at two, and the top of lifting guide rod 23 is consolidated
Be scheduled on positioning seat 7, bottom is fixed on lower positioning seat 8, the first slide unit 3 is in the ball screw assembly, of lifting motor 5 and first
Effect lower edge lifting guide rod slides about 23, so as to drive the syringe needle mounting seat 2 and syringe needle to be slid about 1.
First oscillatory gearing mechanism is used to drive the contact pin apparatus to swing around Y direction.Described first swings drive
Dynamic device includes the first electric rotating machine 9, first rotating shaft and the crotch 10 for installing the mounting bracket 6, and first rotating shaft is along Y-axis side
To setting, mounting bracket 6 is rotatablely connected by first rotating shaft and the crotch 10, first rotating shaft and the output of the first electric rotating machine 9
Axle is connected, and is rotated under the drive of the first electric rotating machine 9, so as to drive contact pin apparatus is overall to be swung around Y direction.
Specifically, the section of the crotch 10 is U-shaped, and the first rotating shaft is divided into two parts, respectively front rotary shaft
11 and rear rotating shaft 12, the front end of mounting bracket 6 be rotatablely connected by front rotary shaft 11 and crotch 10, the rear end of mounting bracket 6 passes through rear turn
Axle 12 is rotatablely connected with crotch 10.The front rotary shaft 11 is the axle with five steps, and rear rotating shaft 12 is with six steps
Axle, rear rotating shaft 12 are connected by shaft coupling with the output shaft of first electric rotating machine 9.
Second oscillatory gearing mechanism is used to drive the contact pin apparatus to swing around X-direction.Specifically, it is described
Second oscillatory gearing mechanism includes the second electric rotating machine 13 and the second rotating shaft 14, and the second rotating shaft 14 is set along X-direction, second turn
One end of axle 14 is connected with the output shaft of the second electric rotating machine 13, the other end is connected with the crotch 10, the second electric rotating machine 13
Crotch 10 is driven to be rotated around X-direction by the second rotating shaft 14, so as to drive contact pin apparatus to be swung around X-direction.
First translation driving device is used to drive the contact pin apparatus to translate along X-direction.Specifically, it is described
First translation driving device includes upper backup pad 15, middle supporting plate 18, the second slide unit 16, the first translation motor 17 and the second ball
Lead screw pair.Second electric rotating machine 13 is arranged on upper backup pad 15, and the first translation motor 17 is arranged in middle supporting plate 18, and second
Ball screw assembly, is set along X-direction, and the second ball screw assembly, is driven by the first translation motor 17.Second ball screw assembly, includes
The second leading screw 20 being mutually adapted and the second nut, the second nut are arranged on the second slide unit 16.The top of second slide unit 16 with
The upper backup pad 15 is connected, and first translation motor 17 drives the second pendulum by the second ball screw assembly, and the second slide unit 16
Dynamic drive device translates along X-direction, so as to drive the contact pin apparatus synchronous translational being connected with the second oscillatory gearing mechanism.
First translation driving device also includes the first guided in translation mechanism, and the first guided in translation mechanism is led including first
Left positioning seat 19 and right positioning seat 22 to bar 21 and for the first guide rod 21 of installation, the first guide rod 21 have two, two
First guide rod 21 is located at the both sides of the second leading screw 20 respectively, and each first guide rod 21 is set along X-direction.Each first is oriented to
The left end of bar 21 is separately mounted on left positioning seat 19, right-hand member is separately mounted on right positioning seat 22.Second slide unit 16 is nested with
On first guide rod 21, the second slide unit 16 is in the presence of the first translation motor 17 and the second ball screw assembly, along the first guide rod
21 toward polyslip.
The left side of second slide unit 16 is provided with left touching pin, the right side of the second slide unit 16 is provided with right touching gear
Bar, left limit sensor is provided with left positioning seat 19, right limit sensor is provided with right positioning seat 22.Left and right limiter
Electricly connected with the first translation motor 17.
When left touching pin touches left limit sensor under the drive of the second slide unit 16, left limit sensor passes through electricity
Signal controls the first translation motor 17 to shut down.Passed when right touching pin touches right limit under the drive of the second slide unit 16
During sensor, right limit sensor controls the first translation motor 17 to shut down by electric signal.That is, in the second slide unit 16
Tune movement make, once the second slide unit 16 reaches limit on the left position or limit on the right-right-hand limit position, the touching pin of corresponding position is just
Corresponding limit sensors can be touched, make the stop motion of the first translation motor 17, so as to ensure that the safety in slipping.
Second translation driving device is used to drive the contact pin apparatus to translate along Y direction.Specifically, it is described
Second translation driving device includes lower supporting plate 25, the 3rd slide unit 29, the second translation motor 24 and the 3rd ball screw assembly, and the 3rd
The top of slide unit 29 is connected with the middle supporting plate 18, and the second translation motor 24 is arranged on lower supporting plate 25.3rd ball wire
Thick stick pair is set along Y direction, and the 3rd ball screw assembly, is driven by the second translation motor 24, and the 3rd ball screw assembly, includes mutually suitable
The 3rd leading screw 27 matched somebody with somebody and the 3rd nut, the 3rd nut are arranged on the 3rd slide unit 29.Second translation motor 24 passes through
Three ball screw assembly,s and the 3rd slide unit 29 drive the first translation driving device to be translated along Y direction, so as to drive the second swing to drive
Dynamic device translates together with contact pin apparatus along Y direction.
Second translation driving device also includes the second guided in translation mechanism, and the second guided in translation mechanism is led including second
Prelocalization seat 26 and rear positioning seat 30 to bar 28 and for the second guide rod 28 of installation.Second guide rod 28 has two, two
Second guide rod 28 is located at the both sides of the 3rd leading screw, and each second guide rod 28 is set along Y direction.Each second guide rod 28
Front end is installed on prelocalization seat 26, rear end is arranged on rear positioning seat 30.3rd slide unit 29 is nested with the second guide rod 28
On, the 3rd slide unit 29 in the presence of the second translation motor 24 and the 3rd ball screw assembly, along the second guide rod 28 toward polyslip,
Touching pin, the rear side of the 3rd slide unit 29 touch pin, prelocalization seat 26 after being provided with before the front side of 3rd slide unit 29 is provided with
On be provided with front limit sensor, be provided with rear limit sensors on rear positioning seat 30.
When current touching pin touches front limit sensor under the drive of the 3rd slide unit 29, front limit sensor passes through
Electric signal controls the second translation motor 24 to shut down.When after touching pin touched under the drive of the 3rd slide unit 29 after it is spacing
During sensor, rear limit sensors control the second translation motor 24 to shut down by electric signal.That is, in the 3rd slide unit
During 29 tune movement is made, once extreme position before the 3rd slide unit 29 reaches or after extreme position, the touching pin of corresponding position
Corresponding limit sensors will be touched, make the stop motion of the second translation motor 24, so as to ensure that the peace in slipping
Entirely.
In above-described embodiment, the first translation driving device and the second translation driving device employ motor and ball-screw
Secondary fit form, but the first translation driving device in the present invention and the second translation driving device be not limited only to it is above-mentioned
Motor+ball screw assembly, structure type, can also be other building forms, for example, using hydraulic cylinder or cylinder driving slide
The mode of platform motion, makes slide unit and the piston rod of hydraulic cylinder or cylinder be connected, and slide unit translation is directly driven by hydraulic cylinder or cylinder,
And for example can be by the way of upper backup pad 15 and middle supporting plate 18 be separately positioned on miniature linear, by miniature straight line
Motor directly drives upper backup pad and middle supporting plate to do reciprocating linear motion, it is of course also possible to use other frame modes, only
The slide unit can be driven.
The robot also includes being used to drive the contact pin apparatus, the first oscillatory gearing mechanism, the second wobble drive dress
Put, the second lifting drive of the first translation driving device and the second translation driving device integral elevating, the second lifting driving
Device includes base 33 and expansion bracket 31, and the bottom of expansion bracket 31 is connected with base 33, the top of expansion bracket 31 and the lower branch
Fagging 25 is connected.Specifically, the expansion bracket 31 can using upper and lower sleeve be mutually socketed realization it is flexible by the way of,
Set lever 32 is set to realize both relative positionings at the link position of upper and lower sleeve.Certainly, the structure shape of expansion bracket 31
Formula can also use other frame modes, as long as can realize flexible.
The part do not addressed in the present invention uses or used for reference prior art and can be achieved.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or dark
Show that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, thus it is it is not intended that right
The limitation of the present invention.
In addition, term " first ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or implying phase
To importance.
Specific embodiment described herein is only the spiritual example explanation to the present invention.Belonging to the present invention
Those skilled in the art can make various modifications or supplement to described specific embodiment or using similar
Mode substitutes, but without departing from the spiritual of the present invention or surmounts scope defined in appended claims.
Claims (10)
1. a kind of four-degree-of-freedom tumor puncture auxiliary robot, it is characterised in that filled including contact pin apparatus, the first wobble drive
Put, the second oscillatory gearing mechanism, the first translation driving device and the second translation driving device；The contact pin apparatus is worn for completion
Thorn acts, and the first oscillatory gearing mechanism is used to drive the contact pin apparatus to swing around Y direction, and the second oscillatory gearing mechanism is used for
The contact pin apparatus is driven to be swung around X-direction, the first translation driving device is used to drive the contact pin apparatus to put down along X-direction
Move, the second translation driving device is used to drive the contact pin apparatus to translate along Y direction.
A kind of 2. four-degree-of-freedom tumor puncture auxiliary robot according to claim 1, it is characterised in that the contact pin dress
Put including syringe needle and syringe needle mounting seat, syringe needle is arranged on the bottom of syringe needle mounting seat, and contact pin apparatus also includes driving the syringe needle
The first lifting drive that mounting seat lifts along Z-direction；First lifting drive includes the first slide unit, lifting electricity
Machine and the first ball screw assembly, the first ball screw assembly, are driven by lifting motor, and the first ball screw assembly, is set along Z-direction,
First ball screw assembly, is connected with the first slide unit, and lifting motor drives the first slide unit along Z-direction by the first ball screw assembly,
Linear reciprocating motion is done, the syringe needle mounting seat is arranged on the first slide unit and is synchronized with the movement with the first slide unit.
A kind of 3. four-degree-of-freedom tumor puncture auxiliary robot according to claim 2, it is characterised in that the contact pin dress
Putting also includes mounting bracket and lifting guide mechanism, and the lifting motor is arranged on mounting bracket, and lifting guide mechanism includes lifting
Guide rod and the upper positioning seat for installation lifting guide rod and lower positioning seat, lifting guide rod is set along Z-direction, upper and lower
Positioning seat is separately positioned on mounting bracket, and lifting guide rod is located at the side of the first ball screw assembly, and the first slide unit, which is nested with, to be risen
Drop on guide rod, the top for lifting guide rod is fixed on positioning seat, bottom is fixed on lower positioning seat, and the first slide unit is rising
Edge lifting guide rod slides up and down in the presence of dropping motor and the first ball screw assembly,.
A kind of 4. four-degree-of-freedom tumor puncture auxiliary robot according to claim 1, it is characterised in that first pendulum
Dynamic drive device includes the first electric rotating machine, first rotating shaft and the crotch for installing the contact pin apparatus, and first rotating shaft is along Y-axis
Direction is set, and contact pin apparatus is rotatablely connected by first rotating shaft and the crotch, first rotating shaft and the output of the first electric rotating machine
Axle is connected, and is rotated under the drive of the first electric rotating machine, so as to drive contact pin apparatus to be swung around Y direction.
A kind of 5. four-degree-of-freedom tumor puncture auxiliary robot according to claim 4, it is characterised in that second pendulum
Dynamic drive device includes the second electric rotating machine and the second rotating shaft, and the second rotating shaft is set along X-direction, one end of the second rotating shaft and the
The output shaft of two electric rotating machines is connected, the other end is connected with the crotch, and the second electric rotating machine drives crotch by the second rotating shaft
Rotated around X-direction, so as to drive contact pin apparatus to be swung around X-direction.
A kind of 6. four-degree-of-freedom tumor puncture auxiliary robot according to claim 1, it is characterised in that second pendulum
Dynamic drive device is connected with contact pin apparatus, first translation driving device including upper backup pad, middle supporting plate, the second slide unit,
First translation motor and the second ball screw assembly, the second oscillatory gearing mechanism are arranged on upper backup pad, the first translation motor peace
In middle supporting plate, the second ball screw assembly, is set along X-direction, and the second ball screw assembly, is driven by the first translation motor,
Second slide unit is connected with the second ball screw assembly, and the top of the second slide unit is connected with the upper backup pad, the first translation electricity
Machine drives the second oscillatory gearing mechanism to be translated along X-direction by the second ball screw assembly, and the second slide unit, so as to drive and the
The connected contact pin apparatus synchronous translational of two oscillatory gearing mechanisms.
7. a kind of four-degree-of-freedom tumor puncture auxiliary robot according to claim 6, it is characterised in that described first is flat
Moving drive device also includes the first guided in translation mechanism, and the first guided in translation mechanism includes the first guide rod and for installing first
The left positioning seat and right positioning seat of guide rod, the first guide rod are set along X-direction, and the first guide rod is located at the second ball-screw
Secondary side, the left end of the first guide rod is arranged on left positioning seat, right-hand member is arranged on right positioning seat, and the second slide unit is nested with
On first guide rod, the second slide unit is back and forth slided in the presence of the first translation motor and the second ball screw assembly, along the first guide rod
Move, left touching pin is provided with the left of the second slide unit, is provided with right touching pin on the right side of the second slide unit, is set on left positioning seat
Left limit sensor is equipped with, right limit sensor is provided with right positioning seat.
8. a kind of four-degree-of-freedom tumor puncture auxiliary robot according to claim 6, it is characterised in that described second is flat
Moving drive device includes lower supporting plate, the 3rd slide unit, the second translation motor and the 3rd ball screw assembly, the top of the 3rd slide unit and
The middle supporting plate is connected, and the second translation motor is arranged on lower supporting plate, and the 3rd ball screw assembly, is set along Y direction, the
Three ball screw assembly,s are driven by the second translation motor, and the 3rd slide unit is connected with the 3rd ball screw assembly, second translation motor
The first translation driving device is driven to be translated along Y direction by the 3rd ball screw assembly, and the 3rd slide unit, so as to drive the second pendulum
Dynamic drive device translates together with contact pin apparatus along Y direction.
9. a kind of four-degree-of-freedom tumor puncture auxiliary robot according to claim 8, it is characterised in that described second is flat
Moving drive device also includes the second guided in translation mechanism, and the second guided in translation mechanism includes the second guide rod and for installing second
The prelocalization seat and rear positioning seat of guide rod, the second guide rod are set along Y direction, and the second guide rod is located at the 3rd ball-screw
Secondary side, the front end of the second guide rod is arranged on prelocalization seat, rear end is arranged on rear positioning seat, and the 3rd slide unit is nested with
On second guide rod, the 3rd slide unit is back and forth slided in the presence of the second translation motor and the 3rd ball screw assembly, along the second guide rod
Move, touching pin before being provided with front side of the 3rd slide unit, touch pin after being provided with rear side of the 3rd slide unit, set on prelocalization seat
Front limit sensor is equipped with, rear limit sensors are provided with rear positioning seat.
A kind of 10. four-degree-of-freedom tumor puncture auxiliary robot according to claim 8, it is characterised in that the machine
People also includes being used to drive the contact pin apparatus, the first oscillatory gearing mechanism, the second oscillatory gearing mechanism, the first driven in translation dress
The second lifting drive with the second translation driving device integral elevating is put, the second lifting drive includes base and stretched
Frame, the bottom of expansion bracket are connected with base, and the top of expansion bracket is connected with the lower supporting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710810376.2A CN107773305A (en) | 2017-09-11 | 2017-09-11 | A kind of four-degree-of-freedom tumor puncture auxiliary robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710810376.2A CN107773305A (en) | 2017-09-11 | 2017-09-11 | A kind of four-degree-of-freedom tumor puncture auxiliary robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107773305A true CN107773305A (en) | 2018-03-09 |
Family
ID=61437865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710810376.2A Pending CN107773305A (en) | 2017-09-11 | 2017-09-11 | A kind of four-degree-of-freedom tumor puncture auxiliary robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107773305A (en) |
Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108420535A (en) * | 2018-04-25 | 2018-08-21 | 阜阳盛东智能制造技术研发有限公司 | A kind of mechanical arm for spinal operation |
| CN108433791A (en) * | 2018-04-26 | 2018-08-24 | 王燕青 | Adjustable needle angle sting device and its system and control method |
| CN108742797A (en) * | 2018-07-10 | 2018-11-06 | 哈尔滨理工大学 | A kind of passive hybrid subclavian vein puncture robot of master |
| CN109091233A (en) * | 2018-08-15 | 2018-12-28 | 中国科学院深圳先进技术研究院 | Puncturing operation robot based on series and parallel structure |
| CN109172356A (en) * | 2018-08-21 | 2019-01-11 | 湘潭大学 | A kind of acupoint-physiotherapeutic instrument |
| CN109567905A (en) * | 2018-12-04 | 2019-04-05 | 王广杰 | Skull punctures auxiliary locator |
| CN109620368A (en) * | 2019-01-30 | 2019-04-16 | 珠海市人民医院 | It is a kind of based on CT guidance under intervening of intelligence sting device |
| CN109771035A (en) * | 2019-02-12 | 2019-05-21 | 北京理工大学 | Six degree of freedom mechanical arm and the lung puncture robot for using the mechanical arm |
| CN110151267A (en) * | 2018-03-27 | 2019-08-23 | 周海鹏 | A kind of fully-automatic laser formula CT puncture guide |
| CN110353813A (en) * | 2019-07-01 | 2019-10-22 | 中奕智创医疗科技有限公司 | A kind of puncture ancillary equipment |
| CN110393579A (en) * | 2019-08-29 | 2019-11-01 | 中南大学湘雅医院 | A kind of medical treatment bone tumour insertion type therapeutic device |
| CN110856660A (en) * | 2018-08-23 | 2020-03-03 | 武汉联影智融医疗科技有限公司 | Surgical robot and puncture mechanism thereof |
| CN111437011A (en) * | 2020-03-30 | 2020-07-24 | 中国科学院深圳先进技术研究院 | Puncture surgery robot system |
| CN111467035A (en) * | 2020-04-03 | 2020-07-31 | 哈尔滨工业大学 | Cross sliding table driving type hybrid spinal surgery robot |
| CN111544120A (en) * | 2020-05-14 | 2020-08-18 | 上海交通大学医学院附属第九人民医院 | Precision measuring device for surgical robot navigation system |
| CN111643774A (en) * | 2020-06-20 | 2020-09-11 | 杜书华 | Nursing-used retention needle fixing device |
| CN111728654A (en) * | 2020-07-23 | 2020-10-02 | 西安交通大学医学院第一附属医院 | Automatic operation stitching instrument based on mechanical arm |
| CN112168306A (en) * | 2020-11-02 | 2021-01-05 | 王天琦 | Pneumoperitoneum needle puncture device for laparoscopic surgery |
| CN112203611A (en) * | 2018-04-13 | 2021-01-08 | 艾斯伊医疗技术公司 | Medical robot |
| CN112245671A (en) * | 2020-11-02 | 2021-01-22 | 王天琦 | Gall bladder puncture drainage check out test set |
| CN112244953A (en) * | 2020-10-08 | 2021-01-22 | 王洪奎 | Robot hand for automatic puncture |
| CN112353461A (en) * | 2020-10-08 | 2021-02-12 | 王洪奎 | CT real-time positioning accurate puncture robot |
| CN113288435A (en) * | 2021-05-24 | 2021-08-24 | 上海卓昕医疗科技有限公司 | Medical robot and control method thereof |
| CN113425389A (en) * | 2021-06-24 | 2021-09-24 | 秦皇岛市第一医院 | Thoracic and lumbar vertebral pedicle three-dimensional positioning device |
| CN113693670A (en) * | 2021-07-16 | 2021-11-26 | 深圳市鑫君特智能医疗器械有限公司 | Nail placing device and system for orthopedics department |
| CN114469286A (en) * | 2022-04-02 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Miniaturized puncture robot |
| CN114469283A (en) * | 2022-03-31 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Connecting rod type four-freedom-degree puncture needle positioning and guiding device |
| CN114869424A (en) * | 2022-05-12 | 2022-08-09 | 北京术鹰医疗科技有限公司 | Operation puncture positioning device |
| CN114965118A (en) * | 2022-04-13 | 2022-08-30 | 深圳市药品检验研究院（深圳市医疗器械检测中心） | Subcutaneous implantation type drug administration testing device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002062199A2 (en) * | 2001-01-16 | 2002-08-15 | Microdexterity Systems, Inc. | Surgical manipulator |
| US20120158013A1 (en) * | 2010-12-17 | 2012-06-21 | Ethicon Endo-Surgery, Inc. | Surgical System and Methods for Mimicked Motion |
| CN104665919A (en) * | 2015-03-11 | 2015-06-03 | 北京德康健医药科技有限公司 | Positioning device for assisting hollow rivet implanting operation |
| CN104739512A (en) * | 2015-02-28 | 2015-07-01 | 天津大学 | Thoracocentesis surgical robot based on CT or MRI image navigation |
| CN105395240A (en) * | 2015-11-18 | 2016-03-16 | 山东科技大学 | Prostate living tissue puncture robot |
| CN105559790A (en) * | 2016-01-17 | 2016-05-11 | 北京工业大学 | Wearable outer skeleton mechanism for detecting rotating center position information of human upper limb shoulder joint |
| CN105662587A (en) * | 2016-04-18 | 2016-06-15 | 山东科技大学 | Orthopaedics operation robot |
-
2017
- 2017-09-11 CN CN201710810376.2A patent/CN107773305A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002062199A2 (en) * | 2001-01-16 | 2002-08-15 | Microdexterity Systems, Inc. | Surgical manipulator |
| US20120158013A1 (en) * | 2010-12-17 | 2012-06-21 | Ethicon Endo-Surgery, Inc. | Surgical System and Methods for Mimicked Motion |
| CN104739512A (en) * | 2015-02-28 | 2015-07-01 | 天津大学 | Thoracocentesis surgical robot based on CT or MRI image navigation |
| CN104665919A (en) * | 2015-03-11 | 2015-06-03 | 北京德康健医药科技有限公司 | Positioning device for assisting hollow rivet implanting operation |
| CN105395240A (en) * | 2015-11-18 | 2016-03-16 | 山东科技大学 | Prostate living tissue puncture robot |
| CN105559790A (en) * | 2016-01-17 | 2016-05-11 | 北京工业大学 | Wearable outer skeleton mechanism for detecting rotating center position information of human upper limb shoulder joint |
| CN105662587A (en) * | 2016-04-18 | 2016-06-15 | 山东科技大学 | Orthopaedics operation robot |
Cited By (41)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110151267A (en) * | 2018-03-27 | 2019-08-23 | 周海鹏 | A kind of fully-automatic laser formula CT puncture guide |
| CN112203611A (en) * | 2018-04-13 | 2021-01-08 | 艾斯伊医疗技术公司 | Medical robot |
| CN108420535B (en) * | 2018-04-25 | 2020-12-29 | 青岛智兴医疗器械有限公司 | Mechanical arm for spinal surgery |
| CN108420535A (en) * | 2018-04-25 | 2018-08-21 | 阜阳盛东智能制造技术研发有限公司 | A kind of mechanical arm for spinal operation |
| CN108433791A (en) * | 2018-04-26 | 2018-08-24 | 王燕青 | Adjustable needle angle sting device and its system and control method |
| CN108742797A (en) * | 2018-07-10 | 2018-11-06 | 哈尔滨理工大学 | A kind of passive hybrid subclavian vein puncture robot of master |
| CN109091233A (en) * | 2018-08-15 | 2018-12-28 | 中国科学院深圳先进技术研究院 | Puncturing operation robot based on series and parallel structure |
| CN109172356A (en) * | 2018-08-21 | 2019-01-11 | 湘潭大学 | A kind of acupoint-physiotherapeutic instrument |
| CN109172356B (en) * | 2018-08-21 | 2021-07-16 | 湘潭大学 | Acupuncture point physiotherapy instrument |
| CN110856660A (en) * | 2018-08-23 | 2020-03-03 | 武汉联影智融医疗科技有限公司 | Surgical robot and puncture mechanism thereof |
| CN110856660B (en) * | 2018-08-23 | 2021-12-21 | 武汉联影智融医疗科技有限公司 | Surgical robot and puncture mechanism thereof |
| CN109567905A (en) * | 2018-12-04 | 2019-04-05 | 王广杰 | Skull punctures auxiliary locator |
| CN109620368A (en) * | 2019-01-30 | 2019-04-16 | 珠海市人民医院 | It is a kind of based on CT guidance under intervening of intelligence sting device |
| CN109771035A (en) * | 2019-02-12 | 2019-05-21 | 北京理工大学 | Six degree of freedom mechanical arm and the lung puncture robot for using the mechanical arm |
| CN110353813A (en) * | 2019-07-01 | 2019-10-22 | 中奕智创医疗科技有限公司 | A kind of puncture ancillary equipment |
| CN110393579A (en) * | 2019-08-29 | 2019-11-01 | 中南大学湘雅医院 | A kind of medical treatment bone tumour insertion type therapeutic device |
| CN110393579B (en) * | 2019-08-29 | 2021-07-06 | 中南大学湘雅医院 | Medical treatment bone tumour is with intervention formula treatment device |
| CN111437011A (en) * | 2020-03-30 | 2020-07-24 | 中国科学院深圳先进技术研究院 | Puncture surgery robot system |
| CN111437011B (en) * | 2020-03-30 | 2021-04-13 | 中国科学院深圳先进技术研究院 | Puncture surgery robot system |
| CN111467035B (en) * | 2020-04-03 | 2023-01-13 | 哈尔滨工业大学 | Cross sliding table driving type hybrid spinal surgery robot |
| CN111467035A (en) * | 2020-04-03 | 2020-07-31 | 哈尔滨工业大学 | Cross sliding table driving type hybrid spinal surgery robot |
| CN111544120A (en) * | 2020-05-14 | 2020-08-18 | 上海交通大学医学院附属第九人民医院 | Precision measuring device for surgical robot navigation system |
| CN111643774A (en) * | 2020-06-20 | 2020-09-11 | 杜书华 | Nursing-used retention needle fixing device |
| CN111728654A (en) * | 2020-07-23 | 2020-10-02 | 西安交通大学医学院第一附属医院 | Automatic operation stitching instrument based on mechanical arm |
| CN111728654B (en) * | 2020-07-23 | 2021-06-01 | 西安交通大学医学院第一附属医院 | Automatic operation stitching instrument based on mechanical arm |
| CN112244953A (en) * | 2020-10-08 | 2021-01-22 | 王洪奎 | Robot hand for automatic puncture |
| CN112353461A (en) * | 2020-10-08 | 2021-02-12 | 王洪奎 | CT real-time positioning accurate puncture robot |
| CN112245671A (en) * | 2020-11-02 | 2021-01-22 | 王天琦 | Gall bladder puncture drainage check out test set |
| CN112168306A (en) * | 2020-11-02 | 2021-01-05 | 王天琦 | Pneumoperitoneum needle puncture device for laparoscopic surgery |
| CN112168306B (en) * | 2020-11-02 | 2021-05-14 | 宋伟 | Pneumoperitoneum needle puncture device for laparoscopic surgery |
| CN113288435A (en) * | 2021-05-24 | 2021-08-24 | 上海卓昕医疗科技有限公司 | Medical robot and control method thereof |
| CN113425389A (en) * | 2021-06-24 | 2021-09-24 | 秦皇岛市第一医院 | Thoracic and lumbar vertebral pedicle three-dimensional positioning device |
| CN113693670A (en) * | 2021-07-16 | 2021-11-26 | 深圳市鑫君特智能医疗器械有限公司 | Nail placing device and system for orthopedics department |
| CN113693670B (en) * | 2021-07-16 | 2023-09-01 | 深圳市鑫君特智能医疗器械有限公司 | Orthopedic nail placing device and system |
| CN114469283A (en) * | 2022-03-31 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Connecting rod type four-freedom-degree puncture needle positioning and guiding device |
| CN114469286A (en) * | 2022-04-02 | 2022-05-13 | 真健康（北京）医疗科技有限公司 | Miniaturized puncture robot |
| CN114469286B (en) * | 2022-04-02 | 2022-07-01 | 真健康（北京）医疗科技有限公司 | Miniaturized puncture robot |
| CN114965118A (en) * | 2022-04-13 | 2022-08-30 | 深圳市药品检验研究院（深圳市医疗器械检测中心） | Subcutaneous implantation type drug administration testing device |
| CN114965118B (en) * | 2022-04-13 | 2023-08-22 | 深圳市药品检验研究院（深圳市医疗器械检测中心） | Subcutaneous implantation type drug administration testing device |
| CN114869424A (en) * | 2022-05-12 | 2022-08-09 | 北京术鹰医疗科技有限公司 | Operation puncture positioning device |
| CN114869424B (en) * | 2022-05-12 | 2023-11-21 | 首都医科大学附属北京朝阳医院 | Operation puncture positioning equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107773305A (en) | A kind of four-degree-of-freedom tumor puncture auxiliary robot | |
| CN105395240B (en) | A kind of prostate biological tissue Needle-driven Robot | |
| CN109771811B (en) | Parallel robot for implanting particles into prostate flexible needle | |
| CN107411821B (en) | Five degree of freedom flexibility Needle-driven Robot | |
| CN106901836B (en) | A kind of prostate biopsy operating robot | |
| CN102113905B (en) | Novel acupuncture surgery manipulator mechanism in nuclear magnetic resonance environment | |
| CN106725648B (en) | Multidirectional adsorption breast fixing device for minimally invasive breast surgery and mounting method and using method thereof | |
| CN104548328B (en) | Minimally invasive local radiotherapy robot device | |
| CN204709657U (en) | A kind of accurately pendulum position therapeutic bed | |
| CN110496301A (en) | One kind being suitable for clinical human's lithotomy position and targets seeds implanted robot | |
| CN103027754A (en) | Automatic vertical support of close-range seed implantation robot | |
| CN104689489A (en) | Straight line swing arm type robot treatment bed | |
| CN2852945Y (en) | Three-dimensional therapeutic bed used for radiotherapeutic system | |
| CN101791451B (en) | Acupuncture manipulator mechanism for applying to magnetic nuclear resonance environment | |
| CN204446969U (en) | Vertical auxiliary Wicresoft radiotherapy surgical robotic apparatus | |
| CN102499726A (en) | Close-distance minimally-invasive manipulator mechanism for nuclear magnetic resonance imaging environment | |
| CN201055381Y (en) | Three-dimensional therapeutic bed | |
| CN106236558A (en) | A kind of back massage robot | |
| CN210354899U (en) | Medical surgical robot | |
| CN110368040A (en) | Needle pierces minimally invasive robot | |
| CN114343853A (en) | Clamping and rotating twisting device, delivery device and interventional operation robot | |
| CN109223053A (en) | A kind of prostate biopsy robot | |
| CN214104473U (en) | Medical treatment bone tumour operation puncture auxiliary positioning device | |
| CN106267573A (en) | A kind of accurately pendulum position therapeutic bed | |
| CN106580405A (en) | Puncture surgery robot system |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180309 |
|
| RJ01 | Rejection of invention patent application after publication |