CN107773306B - A kind of five degree of freedom prostate acupuncture operation robot - Google Patents
A kind of five degree of freedom prostate acupuncture operation robot Download PDFInfo
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- CN107773306B CN107773306B CN201710877943.6A CN201710877943A CN107773306B CN 107773306 B CN107773306 B CN 107773306B CN 201710877943 A CN201710877943 A CN 201710877943A CN 107773306 B CN107773306 B CN 107773306B
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- 210000002307 prostate Anatomy 0.000 title claims abstract description 24
- 238000001467 acupuncture Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 70
- 230000033001 locomotion Effects 0.000 claims abstract description 14
- 238000001356 surgical procedure Methods 0.000 claims description 2
- 206010060862 Prostate cancer Diseases 0.000 description 8
- 208000000236 Prostatic Neoplasms Diseases 0.000 description 8
- 238000002595 magnetic resonance imaging Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000001574 biopsy Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000003745 diagnosis Methods 0.000 description 3
- 206010063385 Intellectualisation Diseases 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 201000011510 cancer Diseases 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 208000007433 Lymphatic Metastasis Diseases 0.000 description 1
- 206010027476 Metastases Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 210000000577 adipose tissue Anatomy 0.000 description 1
- 231100000504 carcinogenesis Toxicity 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000012631 diagnostic technique Methods 0.000 description 1
- 206010020718 hyperplasia Diseases 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000009401 metastasis Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 210000001625 seminal vesicle Anatomy 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 238000010200 validation analysis Methods 0.000 description 1
- 201000010653 vesiculitis Diseases 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
- A61B10/025—Pointed or sharp biopsy instruments for taking bone, bone marrow or cartilage samples
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
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- Hematology (AREA)
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- Orthopedic Medicine & Surgery (AREA)
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Abstract
The invention discloses a kind of five degree of freedom prostate acupuncture operation robots, including rack, needle, needle are driven to implement the feed arrangement that needle pierces and the branch catenary system in parallel for controlling feed arrangement posture；Feed arrangement includes feeding platform, needle stand and the feed mechanism for driving needle stand realization straight reciprocating motion；Rack includes oblique fagging and the horizontal fagging connected with the top of oblique fagging, branch catenary system in parallel includes a first mechanical arm and four discrete second mechanical arms, the side that one end of first mechanical arm swings connection, the other end and feeding platform with oblique fagging is hinged, the top of each second mechanical arm swings connection with horizontal fagging, bottom end is hinged with feeding platform, first mechanical arm and second mechanical arm collective effect make the feeding platform keep balance.The mechanical automation and intelligence threaded a needle is realized using the present invention, the working strength of doctor is alleviated, improves the accuracy and success rate of operation.
Description
Technical Field
The invention belongs to the technical field of surgical instruments, and particularly relates to a five-degree-of-freedom prostate acupuncture surgical robot.
Background
Malignant tumors in the prostate are the most common type and the second leading cause of cancer death in men. Early detection and treatment is important in order to reduce mortality. Therefore, effective diagnostic techniques and treatment of prostate cancer are essential. The most common clinical method for prostate cancer diagnosis is transrectal ultrasound (TRUS) guided biopsy, in which a needle is inserted into the prostate to collect a tissue sample for clinical analysis. The cancer detection rate for TRUS-guided biopsies is only 40%. Early tumors in the prostate are usually isoechoic lesions and cannot be visualized in ultrasound images. Magnetic Resonance (MR) imaging enhances visualization of the prostate and early lesions can be located. MR targeted biopsy with fused MR and TRUS imaging is a promising practice and may present better results than traditional TRUS guided prostate biopsy, but still requires further clinical validation. The prostate acupuncture operation robot can improve the detection rate of prostate cancer, comprehensively utilizes TRUS and magnetic resonance imaging, exerts respective advantages and is beneficial to early discovery and treatment.
When prostate cancer grows within the envelope, CT is difficult to diagnose and only when the invading envelope infiltrates into the surrounding adipose tissue is a diagnosis possible. It is manifested as irregular prostate contour and uneven density. The anterior rectal wall and the bladder wall can be infiltrated and the angle of seminal vesicle disappears. Lymph node metastasis and pelvic metastasis can also be found by CT. On MRI, CT is helpful in staging prostate cancer, with central enlargement indicated on T2WI, since prostate hyperplasia occurs primarily in the central region. Prostate cancer occurs frequently in the peripheral region, resulting in a low or slightly low signal nodule shadow at T2 WI. MRI is therefore more diagnostic than CT. However, diagnosis remains difficult when MRI manifestations of prostate cancer are atypical.
It will thus be seen that the prior art is susceptible to further improvements and enhancements.
Disclosure of Invention
The invention aims to solve the problems in the prior art, and provides a five-degree-of-freedom prostate acupuncture surgical robot which can realize amplitude adjustment of each angle surface through mechanical cooperation so as to reach any angle in a three-dimensional space and realize highly accurate acupuncture through automatic machine action.
The technical scheme adopted by the invention is as follows:
a five-degree-of-freedom prostate acupuncture surgical robot comprises a frame, a surgical needle for performing surgery, a feeding device for driving the surgical needle to perform acupuncture, and a parallel branched chain system for controlling the posture of the feeding device; the feeding device comprises a feeding platform, a needle seat arranged below the feeding platform and a feeding mechanism for driving the needle seat to realize linear reciprocating motion, and the surgical needle is arranged on the needle seat; the parallel branched chain system is installed on the rack, the rack comprises an oblique supporting plate and a horizontal supporting plate fixedly connected with the top end of the oblique supporting plate, the parallel branched chain system comprises a first mechanical arm and four discrete second mechanical arms, one end of the first mechanical arm is hinged to the oblique supporting plate, the other end of the first mechanical arm is hinged to one side of the feeding platform, the top end of each second mechanical arm is connected with the horizontal supporting plate in a swinging mode, the bottom end of each second mechanical arm is hinged to the feeding platform, two second mechanical arms are located on one side of the feeding platform, the other two second mechanical arms are located on the other side of the feeding platform, the overall length of the first mechanical arm and the overall length of each of the four second mechanical arms are adjustable, and the first mechanical arm and the second mechanical arms act together to enable the feeding platform to keep balance.
The parallel branched chain system further comprises a universal joint, a first double-rotation mechanism, four ball hinges and four second double-rotation mechanisms, one end of the first mechanical arm is connected with the inclined supporting plate through the first double-rotation mechanism, the other end of the first mechanical arm is hinged with one side of the feeding platform through the universal joint, one ball hinge corresponds to one second mechanical arm, one second double-rotation mechanism corresponds to one second mechanical arm, and each second mechanical arm is connected with the horizontal supporting plate through the corresponding second double-rotation mechanism and the other end of the second mechanical arm is hinged with the feeding platform through the ball hinge.
The first double-rotation mechanism comprises a first step shaft arranged on the inclined supporting plate and a first rotation hinge arranged at one end of the first step shaft, and one end of the first mechanical arm is connected with the first rotation hinge; each second double-rotation mechanism comprises a second stepped shaft arranged on the horizontal supporting plate and a second rotation hinge arranged at the bottom end of the second stepped shaft, the four second stepped shafts of the four second double-rotation mechanisms are parallel to each other, and one end of each second mechanical arm is connected with the second rotation hinge.
The first mechanical arm and each second mechanical arm respectively comprise a lower arm body, an upper arm body and a linear driving mechanism for driving the lower arm body to do linear reciprocating motion, and the linear driving mechanism simultaneously plays a role in connecting the lower arm body and the upper arm body; one end of the lower arm body of the first mechanical arm is connected with the linear driving mechanism, the other end of the lower arm body of the first mechanical arm is connected with the universal joint, and one end of the upper arm body of the first mechanical arm is connected with the first double-rotation mechanism; one end of the lower arm body of the second mechanical arm is connected with the linear driving mechanism, the other end of the lower arm body of the second mechanical arm is connected with the ball hinge, and one end of the upper arm body of the second mechanical arm is connected with the second double-rotation mechanism.
The linear driving mechanism comprises a first motor and a first ball screw pair driven by the first motor, the first motor is mounted in the upper arm body, the first ball screw pair comprises a first screw and a first screw nut matched with the first screw, the first screw nut is sleeved on the first screw, the first screw nut is arranged on the lower arm body, the first screw is connected with an output shaft of the first motor, and the first motor drives the lower arm body to make reciprocating linear motion through the first screw and the first screw nut.
The first mechanical arms and the second mechanical arms are provided with first guide mechanisms on one sides, each first guide mechanism comprises a first guide rod, a guide sleeve and a first linkage block, the guide sleeve is arranged on one side of the upper arm body and fixedly connected with the upper arm body, the upper portion of the first guide rod penetrates through the guide sleeve, the lower portion of the first guide rod is fixedly connected with the first linkage block, the first linkage block is fixedly connected with the lower arm body, and when the lower arm body moves, the first guide rod is driven to slide along the guide sleeve through the first linkage block.
The first mechanical arm and each second mechanical arm are further provided with limiting mechanisms, each limiting mechanism comprises a limiting rod, a photoelectric sensor, an upper limiting switch and a lower limiting switch, the upper limiting switch and the lower limiting switch are arranged on the limiting rods, the photoelectric sensors are arranged on one side of a guide sleeve, a guide sliding groove matched with the limiting rods is formed in one side of the guide sleeve, the bottom end of the limiting rod is connected with the first linkage block, the lower limiting switch is arranged on the lower portion of the limiting rod, and the top end of the limiting rod penetrates through the guide sliding groove and the top of the limiting rod to be provided with the upper limiting switch.
The feeding mechanism comprises a second linkage block, a second motor and a second ball screw pair driven by the second motor, the second linkage block is arranged below the feeding platform and connected with the needle base, the second ball screw pair comprises a second screw and a second screw nut which are matched with each other, the second screw nut is sleeved on the second screw and arranged on the second linkage block, the second screw is connected with an output shaft of the second motor, and the second motor drives the needle base and the surgical needle arranged on the needle base to move back and forth through the second screw, the second screw nut and the second linkage block so as to realize the puncturing action.
The feeding device further comprises a second guide mechanism, the second guide mechanism comprises a second guide rod, the second guide rod is arranged on one side of the second lead screw and is parallel to the second lead screw, and the second linkage block is sleeved on the second guide rod and slides back and forth along the second guide rod.
The left side of the second guide rod is provided with a left limit switch, and the right side of the second guide rod is provided with a right limit switch.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the invention has compact structure and is suitable for realizing multi-degree-of-freedom movement in the acupuncture space. The invention has large working space and is suitable for the operation of various people. The surgical needle has high positioning precision, realizes accurate acquisition of organ positions by matching with the limiting mechanism, and has stable operation and high reliability.
2. The invention can realize the automation and intellectualization of mechanical needle threading, standardize the operation process, reduce the working intensity of doctors and improve the working efficiency of the doctors, thereby improving the accuracy and the success rate of the operation.
3. When the invention is used for carrying out the prostate puncture operation, the TRUS and the magnetic resonance imaging are comprehensively utilized, the respective advantages are exerted, the early discovery and treatment are facilitated, and the detection rate of prostate cancer is improved.
Drawings
Fig. 1 is an isometric view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a bottom view of the present invention.
Fig. 4 is a left side view of the present invention.
Fig. 5 is a schematic structural view of a second robot arm according to the present invention.
Wherein,
1. an oblique support 2, a horizontal support 3, a first mechanical arm 4, a second mechanical arm 41, an upper arm body 42, a lower arm body 43, a connecting block 44, a first motor 45, a first lead screw 46, a first lead screw nut 47, a guide sleeve 48, a first guide rod 49, a first linkage block 410, a photoelectric sensor 411, a limit rod 412, an upper limit switch 413, a lower limit switch 5 and a first step shaft 6, the device comprises a first rotating hinge 7, a second step shaft 8, a second rotating hinge 9, a feeding mechanism 91, a second motor 92, a coupler 93, a second lead screw 94, a second linkage block 95, a second guide rod 10, a ball hinge 11, a feeding platform 12, an operating needle 13, a needle seat 14, a universal joint 15, a first bearing 16, a second bearing a, a first double-rotating mechanism b and a second double-rotating mechanism.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific examples, but the present invention is not limited to these examples.
As shown in fig. 1 to 5, a five-degree-of-freedom prostate acupuncture robot includes a frame, an operation needle 12 for performing an operation, a feeding device for driving the operation needle 12 to perform an acupuncture, and a parallel branched chain system for controlling the posture of the feeding device.
The feeding device comprises a feeding platform 11, a needle base 13 arranged below the feeding platform 11 and a feeding mechanism for driving the needle base 13 to realize linear reciprocating motion, and the surgical needle 12 is arranged on the needle base 13.
Specifically, the feeding mechanism includes a second linkage block 94 disposed below the feeding platform 11, a second motor 91, and a second ball screw assembly driven by the second motor 91. The second linkage block 94 is connected with the needle base 13, the second ball screw pair comprises a second screw 93 and a second screw nut which are matched with each other, the second screw nut is sleeved on the second screw 93, and the second screw nut is arranged on the second linkage block 94. An output shaft of the second motor 91 is connected to a second lead screw 93 through a coupling 92. The piercing direction of the surgical needle 12 is parallel to the feed direction of the second linkage block 94. The rotary motion of the output shaft of the second motor 91 is converted into the linear motion of the needle seat 13 through the second lead screw 93, the second lead screw nut and the second linkage 94, so as to drive the surgical needle 12 arranged on the needle seat 13 to move back and forth to realize the puncturing action.
It should be noted that the feeding mechanism is not limited to the structural form of the motor and the ball screw assembly, and may also be formed in other manners, for example, a hydraulic cylinder or an air cylinder is used to drive the second linkage block 94 to move, so that the second linkage block 94 is connected to a piston rod of the hydraulic cylinder or the air cylinder, the hydraulic cylinder or the air cylinder directly drives the second linkage block 94 to translate, or, for example, the second linkage block 94 may be arranged on a micro linear motor, and the micro linear motor directly drives the second linkage block 94 to perform a reciprocating linear motion, or, of course, other structural manners may be used as long as the second linkage block 94 can be driven to perform a linear motion.
The feeding device further comprises a second guide mechanism, the second guide mechanism comprises two second guide rods 95, and the two second guide rods 95 are respectively arranged on two sides of the second lead screw 93 and are parallel to the second lead screw 93. A mounting rack for mounting the two second guide rods 95 is arranged below the feeding platform 11. The second link 94 is sleeved on the second guide rod 95 and slides back and forth along the second guide rod 95.
The left side of second guide bar 95 is provided with left limit switch, the right side is provided with right limit switch, and in the use, when second linkage piece 94 touched left limit switch or right limit switch, corresponding limit switch can pass through the shut down of electric signal control second motor 91, and then control the degree of feeding of needle file 13.
The parallel branched chain system is arranged on the frame, and the frame comprises an oblique supporting plate 1 and a horizontal supporting plate 2 fixedly connected with the top end of the oblique supporting plate 1. The included angle between the inclined supporting plate 1 and the horizontal supporting plate 2 is 60-70 degrees. The parallel branched chain system comprises a first mechanical arm 3, a universal joint 14, a first double-rotation mechanism a, four separate second mechanical arms 4, four second double-rotation mechanisms b and four ball hinges 10.
Specifically, the first double-rotation mechanism a includes a first step shaft 5 mounted on the inclined supporting plate 1 through a first bearing 15 and a first rotation hinge 6 disposed at one end of the first step shaft 5, one end of the first robot arm 3 is connected to the first rotation hinge 6, and two rotational degrees of freedom can be realized, and the other end of the first robot arm 3 is hinged to the right side of the feeding platform 11 through a universal joint 14, and two rotational degrees of freedom can be realized. Each second double-rotation mechanism b comprises a second stepped shaft 7 arranged on the horizontal supporting plate 2 through a second bearing 16 and a second rotation hinge 8 arranged at the bottom end of the second stepped shaft 7, and four second stepped shafts of the four second double-rotation mechanisms are parallel to each other. A second mechanical arm 4 is correspondingly connected with a second stepped shaft 7, and a second double-rotation mechanism is correspondingly connected with a second mechanical arm. The top end of each second mechanical arm 4 is connected with a second rotating hinge 8 at the bottom end of a second stepped shaft 7 corresponding to the top end of each second mechanical arm, so that two rotating degrees of freedom can be realized, and the bottom end of each second mechanical arm is hinged with a feeding platform 11 through a spherical hinge 10, so that three rotating degrees of freedom can be realized. Two of the second robot arms 4 are located at the front side of the feeding platform 11 and the two second robot arms 4 are parallel to each other, and the other two second robot arms 4 are located at the rear side of the feeding platform 11 and the two second robot arms 4 are parallel to each other.
The overall length of the first mechanical arm 3 and the overall length of each of the four second mechanical arms 4 are adjustable, and the feeding platform 11 is kept balanced under the suspension action of the first mechanical arm 3 and the second mechanical arm 4.
The first mechanical arm 3 and each second mechanical arm 4 respectively comprise a connecting block 43, a lower arm body 42, an upper arm body 41 and a linear driving mechanism for driving the lower arm body 42 to do linear reciprocating motion. The linear drive mechanism simultaneously functions to connect the lower arm body 42 and the upper arm body 41. One end of the lower arm body 42 of the first robot arm 3 is connected to the linear driving mechanism, and the other end is connected to the universal joint 14, one end of the upper arm body 41 of the first robot arm 3 is connected to the connecting block 43 of the first robot arm 3, and the connecting block 43 of the first robot arm 3 is connected to the first rotating hinge 6. One end of the lower arm 42 of the second mechanical arm 4 is connected to the linear driving mechanism, the other end is connected to the ball hinge 10, one end of the upper arm 41 of the second mechanical arm 4 is connected to the connecting block 43 of the second mechanical arm 4, and the connecting block 43 of the second mechanical arm 4 is connected to the second rotating hinge 8.
Each of the linear drive mechanisms includes a first motor 44 and a first ball screw pair driven by the first motor 44, and the first motor 44 is mounted in the upper arm body 41. The first ball screw pair comprises a first screw 45 and a first screw nut 46 matched with the first screw 45, the first screw nut 46 is sleeved on the first screw 45, the first screw nut 46 is arranged on the lower arm body 42, and the first screw 45 is connected with an output shaft of the first motor 44. The first motor 44 drives the lower arm 42 to perform reciprocating linear motion through a first lead screw 45 and a first lead screw nut 46.
It should be noted that the linear driving mechanism is not limited to the above-mentioned structure of the motor and the ball screw assembly, and may be other components, for example, a hydraulic cylinder or an air cylinder is installed in the upper arm 41 to drive the lower arm 42 to move, the lower arm 42 is connected to a piston rod of the hydraulic cylinder or the air cylinder, and the hydraulic cylinder or the air cylinder directly drives the lower arm 42 to translate. Of course, other configurations may be adopted as long as the lower arm 42 can be driven to move linearly.
First arm 3 and each one side of second arm 4 all is provided with first guiding mechanism, and each first guiding mechanism all includes first guide bar 48, guide sleeve 47 and first linkage piece 49, and guide sleeve 47 sets up and links firmly with upper arm body 41 in upper arm body 41 one side, and the upper portion of first guide bar 48 passes in guide sleeve 47, and the lower part of first guide bar 48 links firmly with first linkage piece 49, and first linkage piece 49 links firmly with lower arm body 42, and when lower arm body 42 moved, it slided along guide sleeve 47 to drive first guide bar 48 through first linkage piece 49.
First arm 3 with each one side of second arm 4 still all is provided with stop gear, and each stop gear all includes gag lever post 411, photoelectric sensor 410, sets up last limit switch 412 and lower limit switch 413 on gag lever post 411, and photoelectric sensor 410 sets up in one side of guide sleeve 47, and one side of guide sleeve 47 seted up with the guide chute of gag lever post 411 looks adaptation, the bottom of gag lever post 411 with first linkage piece 49 links to each other and the lower part of gag lever post 411 is provided with lower limit switch 413, the top of gag lever post 411 is passed guide chute and the top of gag lever post 411 are provided with go up limit switch 412. When the device is used, when the lower arm body 42 moves to enable the photoelectric sensor 410 to touch the upper limit switch 412 or the lower limit switch 413, the photoelectric sensor 410 controls the first motor 44 to stop through an electric signal, and therefore the purpose of adjusting and controlling the posture is achieved.
The invention provides five degrees of freedom for the feeding platform 11 through the synergistic action of the first mechanical arm 3 and the second mechanical arm 4, is used for controlling the posture of the needle inserting device, and realizes the automation and the intellectualization of mechanical needle threading.
Parts which are not described in the invention can be realized by adopting or referring to the prior art.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.
Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (8)
1. A five-degree-of-freedom prostate acupuncture surgical robot is characterized by comprising a frame, a surgical needle for performing surgery, a feeding device for driving the surgical needle to perform acupuncture and a parallel branched chain system for controlling the posture of the feeding device; the feeding device comprises a feeding platform, a needle seat arranged below the feeding platform and a feeding mechanism for driving the needle seat to realize linear reciprocating motion, and the surgical needle is arranged on the needle seat; the parallel branched chain system is arranged on the rack, the rack comprises an oblique supporting plate and a horizontal supporting plate fixedly connected with the top end of the oblique supporting plate, the parallel branched chain system comprises a first mechanical arm and four discrete second mechanical arms, one end of the first mechanical arm is in swing connection with the oblique supporting plate, the other end of the first mechanical arm is hinged with one side of the feeding platform, the top end of each second mechanical arm is in swing connection with the horizontal supporting plate, the bottom end of each second mechanical arm is hinged with the feeding platform, two second mechanical arms are located on one side of the feeding platform, the other two second mechanical arms are located on the other side of the feeding platform, the overall length of the first mechanical arm and the overall length of each of the four second mechanical arms are adjustable, and the first mechanical arm and the second mechanical arms act together to keep the feeding platform balanced;
the parallel branched chain system also comprises a universal joint, a first double-rotation mechanism, four ball hinges and four second double-rotation mechanisms, wherein one end of the first mechanical arm is connected with the inclined supporting plate through the first double-rotation mechanism, the other end of the first mechanical arm is hinged with one side of the feeding platform through the universal joint, one ball hinge corresponds to one second mechanical arm, one second double-rotation mechanism corresponds to one second mechanical arm, one end of each second mechanical arm is connected with the horizontal supporting plate through the corresponding second double-rotation mechanism, and the other end of each second mechanical arm is hinged with the feeding platform through the ball hinge;
the first double-rotation mechanism comprises a first step shaft arranged on the inclined supporting plate and a first rotation hinge arranged at one end of the first step shaft, and one end of the first mechanical arm is connected with the first rotation hinge; each second double-rotation mechanism comprises a second stepped shaft arranged on the horizontal supporting plate and a second rotation hinge arranged at the bottom end of the second stepped shaft, the four second stepped shafts of the four second double-rotation mechanisms are parallel to each other, and one end of each second mechanical arm is connected with the second rotation hinge.
2. The five-degree-of-freedom prostate acupuncture robot according to claim 1, wherein the first mechanical arm and each of the second mechanical arms each include a lower arm body, an upper arm body, and a linear driving mechanism for driving the lower arm body to reciprocate linearly, the linear driving mechanism serving to connect the lower arm body and the upper arm body at the same time; one end of the lower arm body of the first mechanical arm is connected with the linear driving mechanism, the other end of the lower arm body of the first mechanical arm is connected with the universal joint, and one end of the upper arm body of the first mechanical arm is connected with the first double-rotation mechanism; one end of the lower arm body of the second mechanical arm is connected with the linear driving mechanism, the other end of the lower arm body of the second mechanical arm is connected with the ball hinge, and one end of the upper arm body of the second mechanical arm is connected with the second double-rotation mechanism.
3. The five-degree-of-freedom prostate acupuncture robot according to claim 2, wherein each linear driving mechanism includes a first motor and a first ball screw pair driven by the first motor, the first motor is installed in the upper arm body, the first ball screw pair includes a first screw and a first screw nut adapted to the first screw, the first screw nut is sleeved on the first screw, the first screw nut is disposed on the lower arm body, the first screw is connected to an output shaft of the first motor, and the first motor drives the lower arm body to perform reciprocating linear motion through the first screw and the first screw nut.
4. The five-degree-of-freedom prostate acupuncture robot according to claim 2, wherein the first guiding mechanism is disposed on one side of each of the first mechanical arms and the second mechanical arms, each of the first guiding mechanisms includes a first guiding rod, a guiding sleeve and a first linkage block, the guiding sleeve is disposed on one side of the upper arm body and fixedly connected to the upper arm body, an upper portion of the first guiding rod passes through the guiding sleeve, a lower portion of the first guiding rod is fixedly connected to the first linkage block, the first linkage block is fixedly connected to the lower arm body, and when the lower arm body moves, the first guiding rod is driven by the first linkage block to slide along the guiding sleeve.
5. The five-degree-of-freedom prostate acupuncture robot according to claim 4, wherein one side of each of the first mechanical arm and the second mechanical arm is further provided with a limiting mechanism, each limiting mechanism comprises a limiting rod, a photoelectric sensor, an upper limiting switch and a lower limiting switch, the upper limiting switch and the lower limiting switch are arranged on the limiting rod, the photoelectric sensor is arranged on one side of a guide sleeve, one side of the guide sleeve is provided with a guide chute matched with the limiting rod, the bottom end of the limiting rod is connected with the first linkage block, the lower limiting switch is arranged on the lower portion of the limiting rod, the top end of the limiting rod penetrates through the guide chute, and the upper limiting switch is arranged on the top of the limiting rod.
6. The five-degree-of-freedom prostate acupuncture robot according to claim 1, wherein the feeding mechanism includes a second linkage block disposed below the feeding platform, a second motor, and a second ball screw pair driven by the second motor, the second linkage block is connected to the needle base, the second ball screw pair includes a second screw and a second screw nut that are adapted to each other, the second screw nut is sleeved on the second screw, the second screw nut is disposed on the second linkage block, the second screw is connected to an output shaft of the second motor, and the second motor drives the needle base and the surgical needle disposed on the needle base to move back and forth through the second screw, the second screw nut, and the second linkage block to perform the puncturing operation.
7. The five-degree-of-freedom prostate acupuncture robot according to claim 6, wherein the feeding device further includes a second guide mechanism, the second guide mechanism includes a second guide rod, the second guide rod is disposed at one side of the second lead screw and parallel to the second lead screw, and the second linkage block is sleeved on the second guide rod and slides back and forth along the second guide rod.
8. The five-degree-of-freedom prostate acupuncture robot according to claim 7, wherein a left limit switch is disposed on a left side of the second guide rod, and a right limit switch is disposed on a right side of the second guide rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710877943.6A CN107773306B (en) | 2017-09-26 | 2017-09-26 | A kind of five degree of freedom prostate acupuncture operation robot |
Applications Claiming Priority (1)
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| CN108743369B (en) * | 2018-07-06 | 2020-05-26 | 许秋红 | Automatic acupuncture bed |
| CN108789447B (en) * | 2018-07-19 | 2023-12-19 | 常州善巧复合材料科技有限公司 | Mute needling robot and constant arc length linkage control method thereof |
| CN109499009A (en) * | 2018-12-12 | 2019-03-22 | 深圳先进技术研究院 | A kind of robot for implantation radiation particle |
| CN110179571A (en) * | 2019-06-26 | 2019-08-30 | 微创优通医疗科技（上海）有限公司 | A kind of handle and transportation system |
| CN113100889A (en) * | 2021-04-23 | 2021-07-13 | 潘小娟 | Auxiliary puncture device for nephrology department |
| CN114469282B (en) * | 2022-03-31 | 2022-07-01 | 真健康（北京）医疗科技有限公司 | Orthogonal structure five-degree-of-freedom 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 |
| CN116236288B (en) * | 2023-03-14 | 2024-03-15 | 北京邮电大学 | Miniature puncture robot, puncture system and puncture control model |
| CN116439838B (en) * | 2023-03-14 | 2024-03-19 | 北京邮电大学 | Plane puncture positioning device and ultrasonic-guided hand-eye integrated puncture robot |
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| US6047610A (en) * | 1997-04-18 | 2000-04-11 | Stocco; Leo J | Hybrid serial/parallel manipulator |
| CN1313247C (en) * | 2003-07-18 | 2007-05-02 | 江苏大学 | Massage robot for traumatological department of traditional chinese medicine |
| CN201380487Y (en) * | 2009-03-26 | 2010-01-13 | 浙江大学 | Five freedom degree paralleling robot with no fantastic space |
| CN101693366A (en) * | 2009-06-11 | 2010-04-14 | 哈尔滨工业大学深圳研究生院 | 5-DOF (degree of freedom) parallel robot mechanism |
| CN102034375B (en) * | 2010-12-08 | 2012-02-29 | 大连理工大学 | Series-parallel seven-degree-of-freedom tank simulator |
| DE102011006650B4 (en) * | 2011-04-01 | 2018-06-21 | Siemens Healthcare Gmbh | Device for treating a prostate in a patient |
| CN102258826B (en) * | 2011-04-27 | 2013-02-06 | 天津大学 | Five-freedom degree minimally invasive acupuncture operation guiding mechanism |
| KR20130080909A (en) * | 2012-01-06 | 2013-07-16 | 삼성전자주식회사 | Surgical robot and method for controlling the same |
| SG2012091609A (en) * | 2012-12-11 | 2014-07-30 | Biobot Surgical Pte Ltd | An apparatus and method for biopsy and therapy |
| CN104875189A (en) * | 2015-05-19 | 2015-09-02 | 江南大学 | (3T1R)&R completely isotropic parallel serial robot mechanism |
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| CN106901836B (en) * | 2017-04-12 | 2019-05-31 | 华中科技大学 | A kind of prostate biopsy operating robot |
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