CN109223056A - A kind of new type auto prostate biopsy robot with remote center's movement - Google Patents
A kind of new type auto prostate biopsy robot with remote center's movement Download PDFInfo
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- CN109223056A CN109223056A CN201811388953.4A CN201811388953A CN109223056A CN 109223056 A CN109223056 A CN 109223056A CN 201811388953 A CN201811388953 A CN 201811388953A CN 109223056 A CN109223056 A CN 109223056A
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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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- 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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- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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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
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
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- Life Sciences & Earth Sciences (AREA)
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a kind of new type auto prostate biopsy robots with remote center's movement, relate generally to prostate biopsy field, solve the problems, such as when prostate biopsy that wound is big, easy infection, the locating module is mounted on robot fixed module；The image-forming module is mounted on locating module；The pose adjustment module is fixed on locating module；The depth control block is fixed in pose adjustment module；The wire rope gearing module is mounted in pose adjustment module；The pose adjustment module includes horizontal arc-shaped slide rail mould group and vertical arc-shaped slide rail mould group, pass through random reciprocating motion of the arc shaped slider on arc-shaped guide rail, spatially determine unique virtual fixed point, by the positioning of locating module, one point of puncture of each determination at perineum or so.Each movement of the invention individually carries out, and is automatically positioned by control system, and the movement between modules is noiseless, easy to operate, accurate positioning.
Description
Technical field
The present invention relates to the prostate biopsy fields of patient.In particular to a kind of for carrying out living body group automatically
Knit the robot of inspection.
Background technique
With intelligentized rapid development, more and more automatic machinery people enter the visual field of people, help the mankind fast
Speed accurately completes work in every.But robot system at home medical field utilization it is still deficienter, it is only few
Number hospital and research unit have carried out relevant research to Therapy robot and its control system.Currently, robot is in medical treatment side
The utilization in face, primarily to reaching the purpose of minimally invasive, accurate and easy to operate.
Prostate cancer is common one of the malignant tumour of elderly men, high in the disease incidence of China.Prostate biopsy is to use
Come carry out prostate cancer diagnosis and more after gold standard.2%-5% probability can be caused by the standard prostate biopsy of rectum
Septicemia, can avoid this risk by the biopsy means at perineum, but this method is difficult to learn.
6 dot system aspiration biopsies and in order to improve the recall rate of prostate cancer proposition 12 dot system aspiration biopsies, with root
The property controlled operation Operated Specimens compare the false negative rate for still having 10%-20%.In addition, systemic aspiration biopsy is for entire forefront
" blind to wear " that gland carries out, maximum problem is that the needle number of puncture is more, big to the wound of patient.Multi-parameter magnetic resonance imaging
(MRI) be diagnosis of prostate cancer generally acknowledged at present optimal images technology, but due to real time MRI guidance under prostate wear
Thorn biopsy is time-consuming, arduously and needs special dedicated pricking device, therefore, it is difficult to be widely used.Detecting that the cancer in tissue is thin
After born of the same parents, then patient is treated.During treatment, many may cause during radioactive particle is delivered to prostate
Skin penetrating.Therefore, it is necessary to develop a kind of device for solving the disadvantage that above-mentioned biopsy of prostate and Curing circumstance.It can be with
It realizes that robot control system is accurately controlled position and the depth of biopsy needle, and reduces the wound of Biopsy, reduction is secreted
The uncertainty that Niao Shi section doctor is punctured according to oneself experience and technical ability.Reach the pain, fast for mitigating patient's Biopsy
Fast rehabilitation, medical treatment cost is low, biopsy results are accurate and urologist operates the purpose of simple.
Summary of the invention
The purpose of the present invention is to provide one kind can be accurately positioned, microtrauma, low in cost, flexible stabilization, operation
The easy automatic prostate biopsy robot for carrying out biopsy.
To achieve the goals above, the technical solution adopted in the present invention is as follows:
It is a kind of with remote center movement new type auto prostate biopsy robot, the robot mainly by ultrasonic wave at
As module, biopsy needle locating module, biopsy needle pose adjustment module, biopsy needle depth control block, robot fixed module and
Six part of wire rope gearing module composition.
The biopsy needle locating module includes horizontal linearity ball screw slide mould group and vertical linearity ball screw slide
Mould group, by the mobile accurate positioning for carrying out biopsy needle of described two linear slide rails mould group or so and up and down four direction, the level
Linear ball lead screw sliding rail mould group is fixed by screws on the robot fixed module.
The biopsy needle pose adjustment module includes horizontal arc-shaped slide rail mould group and vertical arc-shaped slide rail mould group, by described
The randomness of horizontal arc shaped slider and vertical arc shaped slider on arc-shaped guide rail moves back and forth spatially to determine unique
Virtual fixed point.By adjusting the angle that the sliding block moves on arc-shaped guide rail, and then control the angle of biopsy pin puncture.
The biopsy needle depth control block includes needle plug, stylophore, pedestal, biopsy needle, fixed link, stylophore fixing seat and line
Property ball screw slide mould group, the needle plug are mounted on the sliding block of linear ball lead screw sliding rail mould group, and the stylophore is mounted on
The lower end of horizontal arc sliding-rail sliding.
The ultrasonic imaging module includes ultrasonic probe sheath, ultrasonic probe, straight-line ball screw slide rails mould group, institute
Ultrasonic probe is stated to be fixed in the support platform of the straight-line ball screw slide rails mould group sliding block.
The robot fixed module include robot support platform, for robot and control platform or operating platform it
Between the link block that connects, convenient for the connection and disassembly between prostate biopsy robot and control platform and operating platform.
The wire rope gearing module includes that servo motor, silk cylinder, wire rope gearing bar, steel wire guide rod, arc are led
Rail, arc shaped slider, arc-shaped guide rail are fixed in arc-shaped guide rail fixing seat, the silk cylinder and the servo motor shaft and silk drive rod
It is fixed by jackscrew, the output power of the servo motor is transmitted to the arc shaped slider by the wire rope gearing system, from
And achieve the purpose that adjust biopsy needle posture.
The present invention has the advantage that
1. the present invention uses wire rope gearing, appropriate pretightning force is imposed, hysterisis error, while the suction of wirerope can be eliminated
Shake effect can make surgical operation machinery obtain more smoothly movement, have small in size, stable drive and positioning accuracy high
Feature；
2. the present invention carries out comprehensive prostate biopsy using two holes, sliding by horizontal arc-shaped slide rail mould group and vertical arc
Rail mould group determines that unique virtual fixed point is overlapped with the forward terminal of stylophore.When change biopsy needle insertion angle when, at this time on
It is a little motionless for stating, and the forward terminal of stylophore is in contact with the skin at perineum, by controlling the piercing angle of biopsy needle, and then is obtained
To the tissue samples at each position of prostate.Due to only can respectively leave a wound at perineum or so after operation, it is possible to
Mitigate the wound left after the pain and operation of patient in the course of surgery；
3. present system controls puncture position, posture and the depth of biopsy needle, so as to fast and accurately reach
Lesion point, improves the accuracy rate of biopsy；
4. the present invention is mainly controlled by PC-Based Control system, thus it is easy to operate, it is easy to use.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of locating module of the present invention；
Fig. 3 is working state figure of the invention；
Fig. 4 is vertical arc-shaped slide rail modular structure schematic diagram of the invention；
Fig. 5 is horizontal arc-shaped slide rail modular structure schematic diagram one of the invention；
Fig. 6 is horizontal arc-shaped slide rail modular structure schematic diagram two of the invention；
Fig. 7 is the structural schematic diagram of depth control block of the present invention；
Fig. 8 is image capture module structural schematic diagram of the invention；
Fig. 9 is robot fixed module cross-sectional view of the invention.
Specific embodiment
The present invention is described in further details in the following with reference to the drawings and specific embodiments.
The present invention is a kind of new type auto prostate biopsy robot with remote center's movement, for solving prostate
The problem of biopsy wound is big, easy infection.
It is as shown in Figure 1 a kind of entirety of the new type auto prostate biopsy robot with remote center's movement of the present invention
Structural schematic diagram, the robot include biopsy needle pose adjustment module 1, biopsy needle depth control block 2, ultrasonic probe imaging
Module 3, robot fixed module 4, biopsy needle locating module 5, wire rope gearing module 6.Arc-shaped slide rail mechanism (pose adjustment mould
Block) 1 point be vertical arc-shaped slide rail mould group and horizontal arc-shaped slide rail mould group, the two is rotated rotating around axis R1 and axis R2, is provided
Rotate horizontally and rotate vertically two freedom degrees.The arc core of vertical arc-shaped slide rail mould group and horizontal arc-shaped slide rail mould group is located at same
Point, the i.e. forward terminal of stylophore.Biopsy needle locating module 5 is respectively by horizontal linearity ball screw slide mould group and vertical linearity ball
Screw slide rails mould group composition, provides spatially vertically and horizontally two freedom degrees respectively.The deep-controlled mould of biopsy needle
The one degree of freedom of the offer front-rear reciprocation movement of block 2.It is reciprocal that ultrasonic probe image-forming module provides one front and back of ultrasonic probe
Movement, the present invention have 6 freedom degrees.
As shown in Fig. 2, biopsy needle locating module 5 includes that vertical linearity ball screw slide mould group 5-1 and horizontal linearity are rolled
Screw slide way mould group 5-2, horizontal linearity ball screw slide mould group and vertical linearity ball screw slide mould group pass through right angle
Connection frame 5-6 is attached.Horizontal linearity ball screw slide mould group and vertical linearity ball screw slide Mo Zu are respectively by watching
Motor 5-4 and 5-3 driving are taken, servo motor 5-4 is connect by shaft coupling with lead screw 5-8, thus by the power of servo motor 5-4
It is transmitted to lead screw 5-8.The output shaft of servo motor 5-3 is connect by jackscrew with silk cylinder 5-5, and there are screw thread, steel in the shaft end of lead screw 5-7
Cord 1-7 has spiral shell by connecting filament cylinder 5-5 and lead screw 5-7 respectively at the screw thread of silk cylinder 5-5 and the shaft end lead screw 5-7 around 3 circles
One end of line carries out power transmitting, since motor and lead screw mould group are using parallel connected mode, so in vertical direction
On save space.By opposite between horizontal linearity ball screw slide mould group and vertical linearity ball screw slide mould group
Movement, to achieve the purpose that position biopsy needle.
As shown in figure 3, be the working condition of robot of the present invention, horizontal arc-shaped slide rail mould group 9 and vertical arc-shaped slide rail mould
Group 10 is connected by right angle fixed frame 11 in Fig. 2, and the arc core of horizontal arc-shaped slide rail mould group and vertical arc-shaped slide rail mould group is in same
A bit, i.e., the forward terminal of stylophore 2-6 in the unique fixed point 12 and Fig. 7 of robot of the present invention.It sterilizes curtain 7 and passes through needle in Fig. 7
Groove 8 on sheath 2-6 is fixed on device, to prevent liquid when operation from splashing on device, between anti-locking apparatus and patient
Cross-infection.
As shown in figure 4, vertical arc-shaped slide rail mould group 10 is by wire rope gearing module, arc-shaped slide rail fixing seat 1-4, servo electricity
Machine fixed frame 1-5, arc-shaped guide rail fixing seat 1-9 composition.Wire rope gearing module is led by silk cylinder 1-1, servo motor 1-2, arc
Rail 1-3, arc shaped slider 1-6, wirerope 1-7, steel wire guide rod 1-8, wire rope gearing bar 1-10 composition.Silk cylinder 1-1 and 1-
11 are fixed on the output shaft of servo motor 1-2 and one end of silk drive rod 1-10, silk cylinder 1-1 and silk cylinder 1-11 by jackscrew respectively
Between around wirerope 1-7, be driven by silk and the power of servo motor 1-2 be transmitted to a drive rod 1-10.Arc-shaped guide rail 1-3
On have arc groove 1-12, for placing a 1-7, the both ends of silk are connect with arc shaped slider 1-6, one end of wirerope 1-7 and arc
The upper end of shape sliding block connects, and surround then along arc groove 1-12, passes through guide rod 1-8, then with silk drive rod 1-10 around 4
Circle passes back through guide rod and is connected by the lower end of arc groove and arc shaped slider, to achieve the purpose that drive arc shaped slider.
As shown in Figure 5 and Figure 6, horizontal arc-shaped slide rail mould group 9 is by servo motor 1-18, horizontal arc shaped slider 1-13, level
Arc-shaped guide rail 1-14, arc-shaped guide rail end cap 1-15, shaft coupling 1-16, silk cylinder 1-17 composition.It is led with arc one end of driving wire 1-7
Rail 1-14 connection, then by silk cylinder 1-17 around 3 circles, the other end for drawing driving wire and arc-shaped guide rail is connected, to reach
The purpose of power is provided for arc shaped slider 1-13.
As shown in fig. 7, biopsy needle depth control block includes linear ball lead screw sliding rail mould group 2-8, pedestal 2-3, needle plug
2-2, biopsy needle 2-5, stylophore 2-6, fixed link 2-7, stylophore fixing seat 2-4, stylophore fixing seat are fixed on the horizontal arc shaped slider of Fig. 5
On 1-13, stylophore is fixed in stylophore fixing seat by the interference fit with stylophore fixing seat upper groove, and needle plug 2-2 is fixed
On sliding block 2-1, by the front-rear reciprocation movement of sliding block 2-1, and then the piercing depth of biopsy needle is controlled.
As shown in figure 8, image capture module includes pedestal 3-2, ultrasonic probe 3-3, linear ball lead screw sliding rail mould group
3-4, ultrasonic probe sheath 3-5, ultrasonic probe fixed frame 3-6, ultrasonic probe are fixed on ultrasonic probe fixed block 3-6,
Ultrasonic probe fixed block 3-6 is fixed by screw and sliding block 3-1, by moving forward and backward for sliding block, and then ultrasonic wave is driven to visit
The front-rear reciprocation movement of head.
As shown in figure 9, robot fixed module includes pedestal 4-4, spring block 4-3, spring 4-6, spring cup 4-5, cunning
Block screw 4-2, pedestal upper end cover 4-1, spring pocket is on the protruding column 4-7 on sliding block, protruding column and spring on sliding block
Cooperation is assemblied in the 4-8 of hole, and the threaded hole on sliding block screw 4-2 and spring block 4-3 cooperates, and when operation passes through pressing sliding block spiral shell
4-2 is followed closely to which compressed spring drives slide block movement, sliding block moves out under the effect of spring force when loosing one's grip, spring block
On square protruding 4-9 and control platform or operating platform on groove cooperate, achieve the purpose that fixed device.
Although the preferred embodiment of the present invention is described above in conjunction with attached drawing, the invention is not limited to upper
The specific embodiment stated, the above mentioned embodiment is only schematical, be not it is restrictive, this field it is common
Technical staff under the inspiration of the present invention, in the case where not departing from present inventive concept and scope of the claimed protection, goes back
Many forms can be made, within these are all belonged to the scope of protection of the present invention.
Claims (4)
1. a kind of new type auto prostate biopsy robot with remote center's movement, including ultrasonic imaging module, biopsy
Needle locating module, biopsy needle pose adjustment module, biopsy needle depth control block, robot fixed module, wire rope gearing mould
Six part of block, it is characterised in that: the biopsy needle locating module is fixed by screws on robot fixed module, the ultrasound
Wave image-forming module is fixed by screws on biopsy needle locating module, and the biopsy needle pose adjustment module is fixed by screws in
On biopsy needle locating module, the biopsy needle depth control block is fixed by screws in biopsy needle pose adjustment module, institute
Wire rope gearing module is stated to be mounted in biopsy needle pose adjustment module by screw；
The ultrasonic imaging module includes ultrasonic probe sheath, ultrasonic probe and linear ball lead screw sliding rail mould group, described
Ultrasonic probe is fixed by screws on the ultrasonic probe fixed block；
The biopsy needle locating module includes horizontal linearity ball screw slide mould group and vertical linearity ball screw slide mould group,
The left and right of the two linear slide rails mould group and the mobile accurate positioning for carrying out biopsy needle of upper and lower four direction, the horizontal linearity
Ball screw slide mould group is fixed by screws on the robot fixed module, the vertical linearity ball-screw mould group with
The horizontal linearity ball-screw mould group is connected by right angle connection frame；
The biopsy needle pose adjustment module includes horizontal arc-shaped slide rail mould group and vertical arc-shaped slide rail mould group, passes through horizontal arc
The randomness of sliding block and vertical arc shaped slider on arc-shaped guide rail moves back and forth spatially to determine unique virtual motionless
Point；
The biopsy needle depth control block includes needle plug, stylophore, pedestal, biopsy needle, fixed link, stylophore fixing seat and linear rolling
Screw slide way mould group, the needle plug are mounted on the sliding block of the linear ball lead screw sliding rail mould group by screw, the needle
Sheath is fixed in stylophore fixing seat by the interference fit with the stylophore fixing seat upper groove；
The robot fixed module includes robot support platform, for connecting between robot and control platform or operating platform
The link block connect；
The wire rope gearing module includes servo motor, silk cylinder, wire rope gearing bar, steel wire guide rod, arc-shaped guide rail, arc
Shape sliding block, the arc-shaped guide rail are mounted in arc-shaped guide rail fixing seat by screw, the silk cylinder and the servo motor shaft and
Wire rope gearing bar is fixed by jackscrew.
2. a kind of new type auto prostate biopsy robot with remote center's movement described in accordance with the claim 1, special
Sign is that the vertical arc-shaped slide rail mould group is connect with the horizontal arc-shaped slide rail mould group by right angle fixed frame, horizontal arc
The arc core of sliding rail mould group and vertical arc-shaped slide rail mould group is met at a bit, i.e. the virtual fixed point and stylophore of apparatus of the present invention
Forward terminal.
3. a kind of new type auto prostate biopsy robot with remote center's movement described in accordance with the claim 1, special
Sign is that the wire rope gearing module refers mainly between the silk cylinder on the silk cylinder on servo motor output shaft and silk drive rod
Silk connection, driving silk drive rod carries out the rotation of specified angle, and silk cylinder fixed with motor shaft and silk drive rod by jackscrew, steel
One end of cord and the upper end of vertical arc shaped slider are fixed, and then wirerope is surround along the groove of vertical arc-shaped guide rail, are passed through
Silk guide rod, then with silk drive rod around 4 circles, it is sliding by the groove and arc of vertical arc-shaped guide rail back through silk guide rod
The lower end of block connects.
4. a kind of new type auto prostate biopsy robot with remote center's movement described in accordance with the claim 1, special
Sign is that the stylophore both ends setting in the biopsy needle depth control block is fluted, and disinfection curtain is solid by the groove on stylophore
It is scheduled on device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811388953.4A CN109223056B (en) | 2018-11-21 | 2018-11-21 | Novel automatic prostate biopsy robot with remote center motion |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811388953.4A CN109223056B (en) | 2018-11-21 | 2018-11-21 | Novel automatic prostate biopsy robot with remote center motion |
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| CN109223056A true CN109223056A (en) | 2019-01-18 |
| CN109223056B CN109223056B (en) | 2021-07-16 |
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| CN201811388953.4A Active CN109223056B (en) | 2018-11-21 | 2018-11-21 | Novel automatic prostate biopsy robot with remote center motion |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110292402A (en) * | 2019-07-29 | 2019-10-01 | 青岛市肿瘤医院 | A kind of prostate biopsy device |
| CN110368040A (en) * | 2019-07-01 | 2019-10-25 | 中奕智创医疗科技有限公司 | Needle pierces minimally invasive robot |
| CN111012456A (en) * | 2020-01-06 | 2020-04-17 | 赛诺联合医疗科技（北京）有限公司 | Ablation operation automatic positioning and needle inserting device based on image guide equipment |
| CN112451056A (en) * | 2020-11-23 | 2021-03-09 | 哈尔滨工业大学 | Eight-degree-of-freedom puncture robot for ultrasonic guidance |
| CN114305696A (en) * | 2021-12-17 | 2022-04-12 | 上海卓昕医疗科技有限公司 | Puncture surgical robot and control method thereof |
| CN114767228A (en) * | 2022-03-23 | 2022-07-22 | 哈尔滨工业大学 | Prostate puncture robot guided by transrectal ultrasound image |
| CN115969431A (en) * | 2022-12-12 | 2023-04-18 | 哈尔滨理工大学 | Multi-degree-of-freedom biopsy device guided by transrectal ultrasound |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110368040A (en) * | 2019-07-01 | 2019-10-25 | 中奕智创医疗科技有限公司 | Needle pierces minimally invasive robot |
| CN110292402A (en) * | 2019-07-29 | 2019-10-01 | 青岛市肿瘤医院 | A kind of prostate biopsy device |
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| CN111012456A (en) * | 2020-01-06 | 2020-04-17 | 赛诺联合医疗科技（北京）有限公司 | Ablation operation automatic positioning and needle inserting device based on image guide equipment |
| CN112451056A (en) * | 2020-11-23 | 2021-03-09 | 哈尔滨工业大学 | Eight-degree-of-freedom puncture robot for ultrasonic guidance |
| CN112451056B (en) * | 2020-11-23 | 2022-01-18 | 哈尔滨工业大学 | Eight-degree-of-freedom puncture robot for ultrasonic guidance |
| CN114305696A (en) * | 2021-12-17 | 2022-04-12 | 上海卓昕医疗科技有限公司 | Puncture surgical robot and control method thereof |
| CN114767228A (en) * | 2022-03-23 | 2022-07-22 | 哈尔滨工业大学 | Prostate puncture robot guided by transrectal ultrasound image |
| CN115969431A (en) * | 2022-12-12 | 2023-04-18 | 哈尔滨理工大学 | Multi-degree-of-freedom biopsy device guided by transrectal ultrasound |
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|---|---|
| CN109223056B (en) | 2021-07-16 |
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