CN109223056B - Novel automatic prostate biopsy robot with remote center motion - Google Patents
Novel automatic prostate biopsy robot with remote center motion Download PDFInfo
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- CN109223056B CN109223056B CN201811388953.4A CN201811388953A CN109223056B CN 109223056 B CN109223056 B CN 109223056B CN 201811388953 A CN201811388953 A CN 201811388953A CN 109223056 B CN109223056 B CN 109223056B
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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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Abstract
The invention discloses a novel automatic prostate biopsy robot with remote center motion, which mainly relates to the field of prostate biopsy and solves the problems of large wound and susceptibility to infection during prostate biopsy, wherein a positioning module is arranged on a robot fixing module; the imaging module is arranged on the positioning module; the posture adjusting module is fixed on the positioning module; the depth control module is fixed on the attitude adjusting module; the steel wire rope transmission module is arranged on the attitude adjusting module; the posture adjusting module comprises a horizontal arc-shaped slide rail module and a vertical arc-shaped slide rail module, unique virtual fixed points are determined in space through random reciprocating motion of arc-shaped slide blocks on the arc-shaped guide rails, and puncture points are determined at the left and right sides of the perineum through positioning of the positioning module. Each movement of the invention is carried out independently and is positioned automatically by the control system, the movement among the modules is not interfered, the operation is convenient and the positioning is accurate.
Description
Technical Field
The present invention relates to the field of prostate biopsy of patients. And more particularly to a robot for automatically performing biopsy.
Background
With the rapid development of intellectualization, more and more automatic robots enter the visual field of people to help people to complete various works quickly and accurately. However, the application of the robot system in the domestic medical field is still deficient, and only a few hospitals and research units have made relevant research on the treatment robot and the control system thereof. At present, the robot is applied to medical treatment mainly for achieving the purposes of micro-invasion, accuracy, convenient operation and the like.
Prostate cancer is one of the common malignant tumors of elderly men, and has a high incidence rate in China. Prostate biopsy is the gold standard for diagnosis and recovery of prostate cancer. A standard prostate biopsy through the rectum will cause 2-5% of the chance of sepsis and this risk is avoided by means of a biopsy at the perineum, but this approach is difficult to learn.
Compared with radical surgical excision specimens, the 6-point systematic aspiration biopsy and the 12-point systematic aspiration biopsy proposed for improving the detection rate of the prostate cancer still have the false negative rate of 10% -20%. In addition, the systemic aspiration biopsy is a "blind puncture" performed on the entire prostate, and has a problem that the number of needles to be punctured is large, and the trauma to the patient is large. Multi-parameter Magnetic Resonance Imaging (MRI) is currently the accepted best imaging technique for diagnosing prostate cancer, but it is difficult to be widely used because real-time MRI-guided prostate biopsy aspiration is time-consuming, laborious and requires special dedicated aspiration equipment. After the detection of cancer cells in the tissue, the patient is then treated. During treatment, many skin punctures may result during delivery of the radioactive particles to the prostate. Accordingly, there is a need to develop a device that addresses the above-mentioned shortcomings of prostate biopsy and treatment environments. The position and the depth of the biopsy needle can be accurately controlled by the robot control system, the biopsy puncture wounds are reduced, and the uncertainty of puncture performed by a urologist according to own experience and skill is reduced. The purposes of relieving the pain of biopsy puncture of a patient, quick recovery, low medical cost, accurate biopsy result, simple operation of a urologist and the like are achieved.
Disclosure of Invention
The invention aims to provide a prostate biopsy robot which can automatically perform biopsy and has the advantages of accurate positioning, small wound, low cost, flexibility, stability and simple operation.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a novel automatic prostate biopsy robot with remote center motion mainly comprises an ultrasonic imaging module, a biopsy needle positioning module, a biopsy needle posture adjusting module, a biopsy needle depth control module, a robot fixing module and a steel wire rope transmission module.
The biopsy needle positioning module comprises a horizontal linear ball screw sliding rail module and a vertical linear ball screw sliding rail module, the biopsy needle is accurately positioned by moving in the left direction, the right direction, the upper direction and the lower direction of the two linear sliding rail modules, and the horizontal linear ball screw sliding rail module is fixed on the robot fixing module through screws.
The biopsy needle posture adjusting module comprises a horizontal arc-shaped slide rail module and a vertical arc-shaped slide rail module, and a unique virtual motionless point is determined in space through the random reciprocating motion of the horizontal arc-shaped slide block and the vertical arc-shaped slide block on the arc-shaped guide rail. The angle of the biopsy needle puncture is controlled by adjusting the moving angle of the sliding block on the arc-shaped guide rail.
The biopsy needle depth control module comprises a needle plug, a needle sheath, a base, a biopsy needle, a fixing rod, a needle sheath fixing seat and a linear ball screw sliding rail module, wherein the needle plug is installed on a sliding block of the linear ball screw sliding rail module, and the needle sheath is installed at the lower end of a horizontal arc sliding rail sliding block.
The ultrasonic imaging module comprises an ultrasonic probe sheath, an ultrasonic probe and a linear ball screw sliding rail module, and the ultrasonic probe is fixed on a supporting platform of a sliding block of the linear ball screw sliding rail module.
The robot fixing module comprises a robot supporting platform and a connecting block used for connecting the robot and the control platform or the operating platform, and the prostate biopsy robot is convenient to connect and detach with the control platform and the operating platform.
The steel wire rope transmission module comprises a servo motor, a wire barrel, a steel wire rope transmission rod, a steel wire rope guide rod, an arc-shaped guide rail and an arc-shaped sliding block, the arc-shaped guide rail is fixed on an arc-shaped guide rail fixing seat, the wire barrel is fixed with a servo motor shaft and the wire transmission rod through jackscrews, and a steel wire rope transmission system transmits output power of the servo motor to the arc-shaped sliding block, so that the purpose of adjusting the posture of the biopsy needle is achieved.
The invention has the following advantages:
1. the invention adopts the steel wire rope for transmission, applies proper pretightening force, can eliminate return error, simultaneously enables the surgical operation machine to obtain more stable motion due to the shock absorption effect of the steel wire rope, and has the characteristics of small volume, stable transmission and high positioning precision;
2. the invention adopts two holes to carry out comprehensive prostate biopsy, and the unique virtual immobile point is determined to be coincided with the front end point of the needle sheath through the horizontal arc-shaped sliding rail module and the vertical arc-shaped sliding rail module. When the inserting angle of the biopsy needle is changed, the point is not moved, the front end point of the needle sheath is contacted with the skin at the perineum, and the tissue samples of all parts of the prostate are obtained by controlling the inserting angle of the biopsy needle. Only one wound is left at the left side and the right side of the perineum after the operation, so that the pain of a patient in the operation process and the wound left after the operation can be relieved;
3. the system controls the puncture position, posture and depth of the biopsy needle, so that the focus point can be quickly and accurately reached, and the biopsy accuracy is improved;
4. the invention is mainly controlled by a control system based on a PC, so the operation is simple and the use is convenient.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of a positioning module according to the present invention;
FIG. 3 is a diagram of the working state of the present invention;
FIG. 4 is a schematic structural view of a vertical arc-shaped slide rail module according to the present invention;
FIG. 5 is a first schematic structural diagram of a horizontal arc-shaped slide rail module according to the present invention;
FIG. 6 is a second schematic structural view of a horizontal arc-shaped slide rail module according to the present invention;
FIG. 7 is a schematic structural diagram of a depth control module according to the present invention;
FIG. 8 is a schematic structural diagram of an image capture module according to the present invention;
fig. 9 is a sectional view of a robot securing module of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
The invention relates to a novel automatic prostate biopsy robot with remote central motion, which is used for solving the problems of large trauma and susceptibility to infection in prostate biopsy.
Fig. 1 is a schematic diagram showing the overall structure of a novel automatic prostate biopsy robot with remote center motion according to the present invention, which includes a biopsy needle posture adjustment module 1, a biopsy needle depth control module 2, an ultrasonic probe imaging module 3, a robot fixing module 4, a biopsy needle positioning module 5, and a wire rope transmission module 6. The arc-shaped slide rail mechanism (attitude adjustment module) 1 is divided into a vertical arc-shaped slide rail module and a horizontal arc-shaped slide rail module, which rotate around an axis R1 and an axis R2 respectively to provide two degrees of freedom of horizontal rotation and vertical rotation. The arc centers of the vertical arc-shaped sliding rail module and the horizontal arc-shaped sliding rail module are positioned at the same point, namely the front end point of the needle sheath. The biopsy needle positioning module 5 is composed of a horizontal linear ball screw slide rail module and a vertical linear ball screw slide rail module respectively, and provides two degrees of freedom in the vertical direction and the horizontal direction in space respectively. The biopsy needle depth control module 2 provides one degree of freedom of reciprocating back and forth. The ultrasonic probe imaging module provides a back-and-forth reciprocating motion for the ultrasonic probe, and the invention has 6 degrees of freedom.
As shown in FIG. 2, the biopsy needle positioning module 5 comprises a vertical linear ball screw slide rail module 5-1 and a horizontal linear ball screw slide rail module 5-2, and the horizontal linear ball screw slide rail module and the vertical linear ball screw slide rail module are connected through a right-angle connecting frame 5-6. The horizontal linear ball screw sliding rail module and the vertical linear ball screw sliding rail module are respectively driven by servo motors 5-4 and 5-3, and the servo motors 5-4 are connected with the screw 5-8 through couplers, so that the power of the servo motors 5-4 is transmitted to the screw 5-8. An output shaft of the servo motor 5-3 is connected with a screw cylinder 5-5 through a jackscrew, the shaft end of the screw rod 5-7 is provided with threads, the steel wire rope 1-7 respectively surrounds 3 circles at the threads at the shaft ends of the screw cylinder 5-5 and the screw rod 5-7, power transmission is carried out by connecting one end of the screw cylinder 5-5 with one end of the screw rod 5-7 with threads, and space is saved in the vertical direction due to the fact that the motor and the screw rod module are connected in parallel. The biopsy needle is positioned by the relative motion between the horizontal linear ball screw slide rail module and the vertical linear ball screw slide rail module.
As shown in fig. 3, in an operating state of the robot of the present invention, the horizontal arc-shaped slide rail module 9 and the vertical arc-shaped slide rail module 10 are connected by the right-angle fixing frame 11 in fig. 2, and the arc centers of the horizontal arc-shaped slide rail module and the vertical arc-shaped slide rail module are at the same point, i.e., the only fixed point 12 of the robot of the present invention is also the front end point of the needle sheath 2-6 in fig. 7. The sterile drape 7 is secured to the device by means of the recess 8 in the sheath 2-6 of figure 7 to prevent fluid from splashing on the device during surgery and to prevent cross-contamination between the device and the patient.
As shown in fig. 4, the vertical arc-shaped slide rail module 10 is composed of a steel wire rope transmission module, arc-shaped slide rail fixing seats 1 to 4, servo motor fixing frames 1 to 5 and arc-shaped guide rail fixing seats 1 to 9. The steel wire rope transmission module consists of a wire barrel 1-1, a servo motor 1-2, an arc-shaped guide rail 1-3, an arc-shaped sliding block 1-6, a steel wire rope 1-7, a steel wire rope guide rod 1-8 and a steel wire rope transmission rod 1-10. The wire drums 1-1 and 1-11 are respectively fixed at the output shaft of the servo motor 1-2 and one end of the wire transmission rod 1-10 through jackscrews, the wire ropes 1-7 are wound between the wire drums 1-1 and 1-11, and the power of the servo motor 1-2 is transmitted to the wire transmission rod 1-10 through wire transmission. The arc-shaped guide rail 1-3 is provided with an arc-shaped groove 1-12 for placing a wire 1-7, two ends of the wire are connected with an arc-shaped sliding block 1-6, one end of a steel wire rope 1-7 is connected with the upper end of the arc-shaped sliding block, then the steel wire rope encircles along the arc-shaped groove 1-12, penetrates through a guide rod 1-8, encircles 4 circles with a wire transmission rod 1-10, and reversely penetrates through the guide rod and is connected with the lower end of the arc-shaped sliding block through the arc-shaped groove, so that the purpose of driving the arc-shaped.
As shown in fig. 5 and 6, the horizontal arc-shaped slide rail module 9 is composed of servo motors 1-18, horizontal arc-shaped slide blocks 1-13, horizontal arc-shaped guide rails 1-14, arc-shaped guide rail end covers 1-15, couplers 1-16 and wire barrels 1-17. One end of the transmission wire 1-7 is connected with the arc-shaped guide rail 1-14, and then the transmission wire is led out to be connected with the other end of the arc-shaped guide rail by surrounding 3 circles through the wire cylinder 1-17, so that the purpose of providing power for the arc-shaped sliding block 1-13 is achieved.
As shown in figure 7, the biopsy needle depth control module comprises a linear ball screw slide rail module 2-8, a base 2-3, a needle plug 2-2, a biopsy needle 2-5, a needle sheath 2-6, a fixed rod 2-7 and a needle sheath fixing seat 2-4, wherein the needle sheath fixing seat is fixed on a horizontal arc-shaped slide block 1-13 in figure 5, the needle sheath is fixed on the needle sheath fixing seat through interference fit with a groove in the needle sheath fixing seat, the needle plug 2-2 is fixed on the slide block 2-1, and the penetration depth of the biopsy needle is controlled through the back-and-forth reciprocating motion of the slide block 2-1.
As shown in fig. 8, the image acquisition module comprises a base 3-2, an ultrasonic probe 3-3, a linear ball screw sliding rail module 3-4, an ultrasonic probe sheath 3-5 and an ultrasonic probe fixing frame 3-6, wherein the ultrasonic probe is fixed on an ultrasonic probe fixing block 3-6, the ultrasonic probe fixing block 3-6 is fixed with a sliding block 3-1 through a screw, and the sliding block moves back and forth to drive the ultrasonic probe to reciprocate back and forth.
As shown in figure 9, the robot fixing module comprises a base 4-4, a spring sliding block 4-3, a spring 4-6, a spring cover 4-5, a sliding block screw 4-2, an upper end cover 4-1 of the base, wherein the spring is sleeved on a convex cylinder 4-7 on the sliding block, the convex cylinder on the sliding block is matched with the spring and assembled in a hole 4-8, the sliding block screw 4-2 is matched with a threaded hole on the spring sliding block 4-3, the sliding block is driven to move by pressing the sliding block screw 4-2 during surgery, the sliding block moves outwards under the action of spring elasticity when hands are loosened, and a square bulge 4-9 on the spring sliding block is matched with a groove on a control platform or an operation platform, so that the purpose of fixing the device is achieved.
Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention as defined in the appended claims.
Claims (1)
1. The utility model provides an automatic prostate biopsy robot with long-range central motion, includes ultrasonic imaging module, biopsy needle location module, biopsy needle gesture adjustment module, biopsy needle depth control module, the fixed module of robot, wire rope transmission module six parts, its characterized in that: the biopsy needle positioning module is fixed on the robot fixing module through screws, the ultrasonic imaging module is fixed on the biopsy needle positioning module through screws, the biopsy needle posture adjusting module is fixed on the biopsy needle positioning module through screws, the biopsy needle depth control module is fixed on the biopsy needle posture adjusting module through screws, and the steel wire rope transmission module is installed on the biopsy needle posture adjusting module through screws;
the ultrasonic imaging module comprises an ultrasonic probe sheath, an ultrasonic probe and a linear ball screw slide rail module, and the ultrasonic probe is fixed on the ultrasonic probe fixing block through a screw;
the biopsy needle positioning module comprises a horizontal linear ball screw sliding rail module and a vertical linear ball screw sliding rail module, the two linear sliding rail modules move in the left direction, the right direction, the upper direction and the lower direction to perform accurate positioning on a biopsy needle, the horizontal linear ball screw sliding rail module is fixed on the robot fixing module through screws, and the vertical linear ball screw module is connected with the horizontal linear ball screw module through a right-angle connecting frame;
the biopsy needle posture adjustment module comprises a horizontal arc-shaped slide rail and a vertical arc-shaped slide rail, and a unique telecentric motionless point is determined in space through the random reciprocating motion of a horizontal arc-shaped slide block and a vertical arc-shaped slide block on the arc-shaped slide rail;
the biopsy needle depth control module comprises a needle plug, a needle sheath, a base, a biopsy needle, a fixed rod, a needle sheath fixing seat and a linear ball screw sliding rail module, wherein the needle plug is installed on a sliding block of the linear ball screw sliding rail module through a screw, and the needle sheath is fixed on the needle sheath fixing seat through interference fit with a groove on the needle sheath fixing seat;
the robot fixing module comprises a robot supporting platform and a connecting block for connecting the robot and the control platform or the operating platform;
the steel wire rope transmission module comprises a servo motor, a wire barrel, a steel wire rope transmission rod, a steel wire rope guide rod, an arc-shaped guide rail and an arc-shaped sliding block, and mainly refers to a wire transmission part of a vertical arc-shaped sliding rail module and a horizontal arc-shaped sliding rail module, for the vertical arc-shaped sliding rail module, a steel wire rope between the wire barrel on a servo motor output shaft and the wire barrel on the steel wire rope transmission rod forms a closed loop to drive the steel wire rope wire transmission rod to rotate by a corresponding angle, one end of the steel wire rope is fixed with the upper end of the vertical arc-shaped sliding block, the steel wire rope is encircled by the steel wire rope guide rod along an arc-shaped groove and 4 circles with the steel wire rope transmission rod, the steel wire rope guide rod is reversely fixed upwards along the arc-shaped groove by the steel wire rope guide rod, the other end of the lead-out steel wire rope and the other end of the horizontal arc-shaped guide rail are fixed, and the horizontal arc-shaped guide rail is fixed, so that when the servo motor rotates to drive the steel wire rope on the wire barrel to rotate, the arc-shaped motion of the horizontal arc-shaped sliding block is further driven, and finally the concentric arc motion of the horizontal arc-shaped sliding rail module and the vertical arc-shaped sliding rail module is realized.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811388953.4A CN109223056B (en) | 2018-11-21 | 2018-11-21 | Novel automatic prostate biopsy robot with remote center motion |
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| CN201811388953.4A CN109223056B (en) | 2018-11-21 | 2018-11-21 | Novel automatic prostate biopsy robot with remote center motion |
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| CN109223056B true CN109223056B (en) | 2021-07-16 |
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Families Citing this family (7)
| 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 |
| CN110292402B (en) * | 2019-07-29 | 2021-08-24 | 青岛市肿瘤医院 | Prostate puncture device |
| CN111012456B (en) * | 2020-01-06 | 2021-01-19 | 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 |
| CN112451056B (en) * | 2020-11-23 | 2022-01-18 | 哈尔滨工业大学 | Eight-degree-of-freedom puncture robot for ultrasonic guidance |
| CN114305696B (en) * | 2021-12-17 | 2024-09-06 | 上海卓昕医疗科技有限公司 | Puncture operation robot and control method thereof |
| CN114767228B (en) * | 2022-03-23 | 2023-04-04 | 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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| SE1750434A1 (en) * | 2017-04-11 | 2018-09-25 | Follou Ab | A surgical simulation arrangement |
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| CN105188560A (en) * | 2012-12-11 | 2015-12-23 | 生物机器人医疗有限公司 | An apparatus and method for biopsy and therapy |
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| CN104970840A (en) * | 2015-07-16 | 2015-10-14 | 天津工业大学 | Six-degree-of-freedom surgical instrument by adoption of cable driving used for minimally invasive surgery |
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