CN109223053A - A kind of prostate biopsy robot - Google Patents
A kind of prostate biopsy robot Download PDFInfo
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- CN109223053A CN109223053A CN201810970313.8A CN201810970313A CN109223053A CN 109223053 A CN109223053 A CN 109223053A CN 201810970313 A CN201810970313 A CN 201810970313A CN 109223053 A CN109223053 A CN 109223053A
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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
- A61B10/0241—Pointed or sharp biopsy instruments for prostate
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- Animal Behavior & Ethology (AREA)
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Abstract
The present invention discloses a kind of prostate biopsy robot, including rotation drive device, detector linear drive apparatus, sonde rotary mechanism, detector, puncture needle actuating device, puncture needle and control system, rotation drive device includes chassis, first servo motor, main shaft and disk, and first servo motor passes through main shaft drives disk rotational.Detector linear drive apparatus is located on disk, including longitudinal rail screw mechanism and lateral guide rod screw mechanism, lateral guide rod screw mechanism are located at the top of longitudinal rail screw mechanism.Sonde rotary mechanism is located on lateral guide rod screw mechanism, and detector is mounted in sonde rotary mechanism.It punctures needle actuating device to be fixedly linked with disk, including vertical guide screw mechanism and needling mechanism, needling mechanism are connected with vertical guide screw mechanism, puncture needle is located on needling mechanism.Structure of the invention is compact, high degree of automation, and the fitness of detector and puncture needle is high, can improve and puncture precision, surgical quality, reduces risk.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of prostate biopsy robot.
Background technique
With the extension of average human life, the raising of diagnostic techniques, living-pattern preservation, China's male prostate disease
The disease incidence of disease is constantly rising, and in recent years, the disease incidence of prostate cancer is more in obvious ascendant trend, it has also become China male secretes
" number one killer " in systemic disease.Puncture is a medical surgery term, be will puncture be needled into body cavity extract secretion do
Chemical examination injects gas or contrast agent to body cavity and does contrast examination, or into body cavity injection of medicine a kind of Clinics.It punctures
Purpose is blood test, and blood transfusion, infusion and merging conduit do angiography.
Currently, the equipment of the aspiration biopsy of prostatic gland clinically generallyd use is very simple, it is main to be examined using with ultrasound
Look into the form that equipment is made of one.The pilot hole of puncture biopsy needle, the puncture on cell taking gun are usually made in ultrasonic probe side
Needle carries out localised puncture under ultrasound image guidance by this pilot hole.Ultrasonic probe and biopsy are all by being manually operated
At, operating process is more complicated, and need at least two doctor to cooperate, large labor intensity, the positioning accurate of puncture biopsy needle
Spend low, omission factor height.Therefore, it has to use more puncture time, more pain is brought to patient.Moreover, traditional
It punctures in intervention operation, doctor needs to continuously adjust operation tool according to tactile or two dimensional image navigation results, easily
Doctor's fatigue and arm is caused to be trembled.Prostate living tissue is small, punctures difficulty, inserting needle precision is low, and puncture process is largely
The upper surgical experience and technical ability for relying on all one's life, surgical quality are relatively low.It can be seen that the existing technology needs further improvement and
It improves.
Summary of the invention
In view of the above shortcomings of the prior art, it is an object of the invention to propose a kind of prostate biopsy robot, solves
The problems such as precision is insufficient, puncture is difficult, Yi Yinqi doctor is tired and arm trembles is punctured in existing prostate biopsy, before raising
The surgical quality that column gland living tissue punctures.
In order to solve the above-mentioned technical problem, the technical scheme adopted by the invention is that:
A kind of prostate biopsy robot, including rotation drive device, detector linear drive apparatus, sonde rotary machine
Structure, detector puncture needle actuating device, puncture needle and control system, rotation drive device include chassis, first servo motor,
Main shaft and disk, first servo motor pass through main shaft drives disk rotational.Detector linear drive apparatus includes longitudinal rail silk
Thick stick mechanism and lateral guide rod screw mechanism, longitudinal rail screw mechanism are located on disk, and lateral guide rod screw mechanism is located at longitudinal direction
The top of guide rail screw mechanism.Sonde rotary mechanism is located on lateral guide rod screw mechanism, and detector is mounted on detector and turns
On motivation structure.Puncturing needle actuating device includes vertical guide screw mechanism and needling mechanism, and vertical guide screw mechanism passes through vertical
Plate is located at the side of detector linear drive apparatus, and vertical plate lower end is fixedly linked with disk.Needling mechanism is located at sonde rotary
The top of mechanism is connected with vertical guide screw mechanism, and puncture needle is located on needling mechanism.
Preferably, longitudinal rail screw mechanism is fixed on disk by mainboard below, the lower end of vertical plate and mainboard
Side be fixedly linked.Main shaft is vertically located in chassis, and first servo motor is connected by the first belt with main shaft lower end, disk
It is fixedly linked with main shaft, the control terminal and control system of first servo motor communicate to connect.
Preferably, longitudinal rail screw mechanism is identical with the structure of vertical guide screw mechanism, include two guide rails and
First ball screw, two guide rails and first ball screw are arranged in parallel, and are furnished with first wire nut seat in first ball screw, and first
The bottom of nut seat is slidably matched with two guide rails.One end of first ball screw connects the second servo electricity by the second belt
Machine, the control terminal and control system of the second servo motor communicate to connect.
Preferably, the guide rail of longitudinal rail screw mechanism and first ball screw vertical equity arrangement, realize that detector exists
Longitudinal movement in horizontal plane.The guide rail and first ball screw of vertical guide screw mechanism are vertically arranged, and realize that detector exists
The movement of vertical direction.
Preferably, lateral guide rod screw mechanism and needling mechanism, include first support, guide rod and the second ball-screw,
Guide rod and the second ball-screw are located in first support in parallel, and the second nut seat and guide rod configured in the second ball-screw slide
Cooperation.One end of second ball-screw is connected by shaft coupling with third servo motor, the control terminal and control of third servo motor
System communication connection processed.
Preferably, puncture needle fixture is installed, the connection of puncture needle fixture punctures on the second nut seat of the needling mechanism
The other end of one end of needle, puncture needle is pierced by outside the first support of needling mechanism.
Preferably, sonde rotary mechanism includes that second support, drive shaft and the 4th servo motor, second support are located at cross
To on the second nut seat of guide rod screw mechanism, drive shaft is transversely mounted on second support, and one end passes through third belt and the
Four servo motors are connected, and the other end is connected by detector fixture with detector, and the 4th servo motor is installed on the secondary support bracket,
Its control terminal and with control system communicate to connect.
By using above-mentioned technical proposal, the method have the benefit that:
1, rotation drive device of the invention realizes that detector and puncture needle are adjusted in horizontal plane angle, longitudinal rail lead screw
Mechanism, lateral guide rod screw mechanism and the cooperation of sonde rotary mechanism realize that detector position is adjusted, vertical guide screw mechanism
Cooperation with needling mechanism realizes that the control to puncture needle inserting needle position and advance and retreat needle, each movement of detector and puncture needle are equal
Independent control, cooperation realize the fitness of detection and inserting needle, improve and puncture quality, reduce and puncture quantity, reduce patient's pain
It is bitter.
2, the present invention can be combined with existing 3-D image guided technology, can be treated to puncture active somatic cell and realize and precisely be determined
Position, entire puncture process is reliable and stable, and operation is dexterous, and it is uncoordinated, easy to overcome operator's eye hands movement in traditional Minimally Invasive Surgery
Shake, the disadvantages of learning curve is long.
3, the present invention solves insufficient precision in existing prostate biopsy, puncture difficulty, Yi Yinqi doctor's fatigue and hand
The problems such as arm trembles improves the surgical quality of prostate living tissue puncture, reduces since human factor bring is performed the operation
Risk and complication.
4, of the invention compact-sized, cost of manufacture is lower, convenient to install and maintain, and control is simple, and space is big, the
One, the movement of the second transmission arm is flexible, and it is accurately steady to puncture inserting needle.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the main view visual direction of prostate biopsy robot of the present invention.
Fig. 2 is a kind of structural schematic diagram of the left view visual direction of prostate biopsy robot of the present invention.
Fig. 3 is the structural schematic diagram of certain a part in Fig. 1, thus it is shown that vertical guide screw mechanism.
Fig. 4 is the structural schematic diagram of another part in Fig. 1, thus it is shown that longitudinal rail screw mechanism.
Fig. 5 is structural schematic diagram a part of again in Fig. 1, thus it is shown that lateral guide rod screw mechanism and sonde rotary machine
The composite structure of structure.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawing:
In conjunction with Fig. 1 to Fig. 5, a kind of prostate biopsy robot, including rotation drive device 1, detector linear drives dress
It sets, sonde rotary mechanism 2, detector 3, puncture needle actuating device, puncture needle 6 and control system, rotation drive device 1 include
Chassis 11, first servo motor 12, main shaft 13 and disk 14, first servo motor 12 drive disk 14 to rotate by main shaft 13.
Main shaft 13 is vertically located in chassis 11 by axle sleeve, and axle sleeve is fixedly linked with chassis 11, and first servo motor 12 passes through the first skin
Band 15 is connected with 13 lower end of main shaft, and the center of disk 14 and the upper end of main shaft 13 are fixedly linked, the control of first servo motor 12
End is communicated to connect with control system.First servo motor 12 is rotated by 15 driving spindle 13 of the first belt, and main shaft 13 drives position
Disk 14 above chassis 11 rotates, and the control terminal of first servo motor 12 is connect with control system, and control system passes through the
The rotational angle of one servo motor 12 control disk.
Detector linear drive apparatus includes longitudinal rail screw mechanism 7 and lateral guide rod screw mechanism 8, longitudinal rail silk
Thick stick mechanism 7 is located on disk 14 by horizontally disposed mainboard 9, and mainboard 9 is located at the top of disk 14, and with 14 stationary phase of disk
Even, the side of mainboard 9 is vertically provided with vertical plate 10, and vertical plate 10 and mainboard 9 are fixedly linked at L-shaped steel bracket, and L shape steel bracket is with circle
Disk 14 rotates together, and realizes the adjusting to detector 3 and puncture needle 6 angle in the horizontal plane.Lateral guide rod screw mechanism 8 is located at
The top of longitudinal rail screw mechanism 7, and be connected with longitudinal rail screw mechanism 7, and drive 7 front and back of longitudinal rail screw mechanism
Horizontal movement.Puncturing needle actuating device includes vertical guide screw mechanism 4 and needling mechanism 5, and vertical guide screw mechanism 4 passes through
Vertical plate 10 is located at the side of detector linear drive apparatus, needling mechanism 5 be located at the side of vertical guide screw mechanism 4 and and its
It is connected, vertical guide screw mechanism 4 drives needling mechanism 5 to move up and down.
Longitudinal rail screw mechanism 7 is identical with the structure of vertical guide screw mechanism 4, includes two guide rails 71 and first
Ball-screw 72, two guide rails 71 and first ball screw 72 are arranged in parallel, and are furnished with first wire nut seat in first ball screw 72
73, the bottom of first wire nut seat 73 is slidably matched with two guide rails 71.One end of first ball screw 72 passes through the second belt 74
The power output end of the second servo motor 75 is connected, the second servo motor 75 drives first ball screw 72 to rotate, the second servo
The control terminal and control system of motor 75 communicate to connect.
Guide rail 71, first ball screw 72 and the second servo motor 75 of longitudinal rail screw mechanism 7, are mounted on mainboard 9
On, the guide rail 71 and 72 vertical equity of first ball screw of longitudinal rail screw mechanism 7 are arranged, realize detector in the horizontal plane
Longitudinal movement.When the first ball screw 72 of longitudinal rail screw mechanism 7 rotates, its 73 vertical equity of first wire nut seat is driven
It moves forward and backward.Guide rail 71, first ball screw 72 and the second servo motor 75 of vertical guide screw mechanism 4 are mounted on vertical plate 10
On, the guide rail 71 and first ball screw 72 of vertical guide screw mechanism 4 are vertically arranged, and realize detector in the shifting of vertical direction
It is dynamic.When the first ball screw 72 of vertical guide screw mechanism 4 rotates, its first wire nut seat 73 is driven to transport up and down along the vertical direction
It is dynamic.
Lateral guide rod screw mechanism 8 and needling mechanism 5, include first support 81, guide rod 82 and the second ball-screw 83,
Guide rod 82 is parallel with the second ball-screw 83 to be located in first support 81, and the second nut seat is configured on the second ball-screw 83
84, the second nut seat 84 configured in the second ball-screw 83 is slidably matched with guide rod 82.One end of second ball-screw 83 leads to
It crosses shaft coupling 85 to be connected with third servo motor 86, the control terminal and control system of third servo motor 86 communicate to connect.Inserting needle
Mechanism 5 is located at the top of sonde rotary mechanism 2, the first support 81 of needling mechanism 5 and the first of vertical guide screw mechanism 4
Nut seat 73 is fixedly linked, and vertical guide screw mechanism 4 drives needling mechanism 5 to move up and down, and puncture needle 6 is located at needling mechanism 5
On.Fixture is installed, fixture fixes one end of puncture needle 6, puncture needle 6 on the second nut seat 84 of the needling mechanism 5
The other end is pierced by outside the first support 81 of needling mechanism 5.
Sonde rotary mechanism 2 is located on lateral guide rod screw mechanism 8, and detector 3 is mounted on by detector fixture 31
In sonde rotary mechanism 2.Specifically, sonde rotary mechanism 2 includes second support 21, drive shaft 22 and the 4th servo motor
23, second support 21 is located on the second nut seat 84 of lateral guide rod screw mechanism 8, when the second ball-screw 83 rotates, is passed through
Second nut seat 84 drives 2 level of sonde rotary mechanism to move left and right, and drive shaft 22 is transversely mounted on second support 21, one
End is connected by third belt 24 with the 4th servo motor 23, and another end detector 3 is fixedly linked, the installation of the 4th servo motor 23
In second support 21, control terminal and with control system communicate to connect.4th servo motor 23 is driven by third belt 24
Drive shaft 22 rotates, and detector 3 is rotated with drive shaft 22.
Certainly, the above description is not a limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the technical staff in domain is made within the essential scope of the present invention also should belong to of the invention
Protection scope.
Claims (7)
1. a kind of prostate biopsy robot, including rotation drive device, detector linear drive apparatus, sonde rotary machine
Structure, punctures needle actuating device, puncture needle and control system at detector, which is characterized in that rotation drive device includes chassis, the
One servo motor, main shaft and disk, first servo motor pass through main shaft drives disk rotational；Detector linear drive apparatus includes
Longitudinal rail screw mechanism and lateral guide rod screw mechanism, longitudinal rail screw mechanism are located on disk, lateral guide rod lead screw machine
Structure is located at the top of longitudinal rail screw mechanism；Sonde rotary mechanism is located on lateral guide rod screw mechanism, detector installation
In sonde rotary mechanism；Puncturing needle actuating device includes vertical guide screw mechanism and needling mechanism, vertical guide lead screw
Mechanism is located at the side of detector linear drive apparatus by vertical plate, and vertical plate lower end is fixedly linked with disk；Needling mechanism is located at
The top of sonde rotary mechanism is connected with vertical guide screw mechanism, and puncture needle is located on needling mechanism.
2. a kind of prostate biopsy robot according to claim 1, which is characterized in that longitudinal rail screw mechanism passes through it
The mainboard of lower section is fixed on disk, and the lower end of vertical plate and the side of mainboard are fixedly linked；Main shaft is vertically located in chassis, and first
Servo motor is connected by the first belt with main shaft lower end, and disk is fixedly linked with main shaft, the control terminal of first servo motor and
Control system communication connection.
3. a kind of prostate biopsy robot according to claim 1, which is characterized in that longitudinal rail screw mechanism and vertical
The structure of guide rail screw mechanism is identical, includes two guide rails and first ball screw, and two guide rails and first ball screw are flat
Row arranges be furnished with first wire nut seat in first ball screw, the bottom of first wire nut seat is slidably matched with two guide rails；First rolling
One end of ballscrew connects the second servo motor by the second belt, and the control terminal of the second servo motor is communicated with control system
Connection.
4. a kind of prostate biopsy robot according to claim 1, which is characterized in that the guide rail of longitudinal rail screw mechanism
It is arranged with first ball screw vertical equity, realizes the longitudinal movement of detector in the horizontal plane；Vertical guide screw mechanism
Guide rail and first ball screw are vertically arranged, and realize detector in the movement of vertical direction.
5. a kind of prostate biopsy robot according to claim 1, which is characterized in that lateral guide rod screw mechanism and inserting needle
Mechanism includes first support, guide rod and the second ball-screw, and guide rod and the second ball-screw are located in first support in parallel,
The second nut seat configured in the second ball-screw is slidably matched with guide rod；One end of second ball-screw, by shaft coupling with
Third servo motor is connected, and the control terminal and control system of third servo motor communicate to connect.
6. a kind of prostate biopsy robot according to claim 5, which is characterized in that the second screw of the needling mechanism
Puncture needle fixture, one end of puncture needle fixture connecting puncture needle are installed on seat, the other end of puncture needle is pierced by needling mechanism
Outside first support.
7. a kind of prostate biopsy robot according to claim 5, which is characterized in that sonde rotary mechanism includes second
Bracket, drive shaft and the 4th servo motor, second support are located on the second nut seat of lateral guide rod screw mechanism, and drive shaft is horizontal
To second support is mounted on, one end is connected by third belt with the 4th servo motor, the other end pass through detector fixture and
Detector be connected, the 4th servo motor install on the secondary support bracket, control terminal and with control system communicate to connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810970313.8A CN109223053A (en) | 2018-08-24 | 2018-08-24 | A kind of prostate biopsy robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810970313.8A CN109223053A (en) | 2018-08-24 | 2018-08-24 | A kind of prostate biopsy robot |
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| Publication Number | Publication Date |
|---|---|
| CN109223053A true CN109223053A (en) | 2019-01-18 |
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ID=65068339
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810970313.8A Pending CN109223053A (en) | 2018-08-24 | 2018-08-24 | A kind of prostate biopsy robot |
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| CN (1) | CN109223053A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110448341A (en) * | 2019-08-08 | 2019-11-15 | 任怡 | A kind of bone marrow aspiration auxiliary device for hematology |
| CN113893015A (en) * | 2021-10-21 | 2022-01-07 | 扬州大学 | Flexible needle reciprocating clamping puncture mechanism based on electronic cam and application method |
| CN114569212A (en) * | 2022-03-04 | 2022-06-03 | 汕头市超声仪器研究所股份有限公司 | Automatic guider of transperineal prostate puncture system |
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| WO2009071766A1 (en) * | 2007-09-18 | 2009-06-11 | Koelis | System and method for imaging and locating punctures under prostatic echography |
| JP2015023996A (en) * | 2013-07-26 | 2015-02-05 | 日立アロカメディカル株式会社 | Puncture needle guide, medical treatment tool using the same and ultrasonic diagnostic apparatus |
| CN105395240A (en) * | 2015-11-18 | 2016-03-16 | 山东科技大学 | Prostate living tissue puncture robot |
| CN106901836A (en) * | 2017-04-12 | 2017-06-30 | 华中科技大学 | A kind of prostate biopsy operating robot |
| CN107260269A (en) * | 2017-07-11 | 2017-10-20 | 哈尔滨理工大学 | A kind of ultrasound guidance robot for aspiration biopsy of prostatic gland |
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2018
- 2018-08-24 CN CN201810970313.8A patent/CN109223053A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009071766A1 (en) * | 2007-09-18 | 2009-06-11 | Koelis | System and method for imaging and locating punctures under prostatic echography |
| JP2015023996A (en) * | 2013-07-26 | 2015-02-05 | 日立アロカメディカル株式会社 | Puncture needle guide, medical treatment tool using the same and ultrasonic diagnostic apparatus |
| CN105395240A (en) * | 2015-11-18 | 2016-03-16 | 山东科技大学 | Prostate living tissue puncture robot |
| CN106901836A (en) * | 2017-04-12 | 2017-06-30 | 华中科技大学 | A kind of prostate biopsy operating robot |
| CN107260269A (en) * | 2017-07-11 | 2017-10-20 | 哈尔滨理工大学 | A kind of ultrasound guidance robot for aspiration biopsy of prostatic gland |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110448341A (en) * | 2019-08-08 | 2019-11-15 | 任怡 | A kind of bone marrow aspiration auxiliary device for hematology |
| CN110448341B (en) * | 2019-08-08 | 2022-07-01 | 南京捷科生物科技有限公司 | A marrow puncture auxiliary device for hematology branch of academic or vocational study |
| CN113893015A (en) * | 2021-10-21 | 2022-01-07 | 扬州大学 | Flexible needle reciprocating clamping puncture mechanism based on electronic cam and application method |
| CN113893015B (en) * | 2021-10-21 | 2023-06-02 | 扬州大学 | Flexible needle reciprocating clamping puncture mechanism based on electronic cam and application method |
| CN114569212A (en) * | 2022-03-04 | 2022-06-03 | 汕头市超声仪器研究所股份有限公司 | Automatic guider of transperineal prostate puncture system |
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Application publication date: 20190118 |
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